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31 Paradigms in the architecture of multi-robot systems Robots individually have their own hardware/software structure, which is usually called robot architecture Those architectures should take into account the particular characteristics of a multi-robot system, because a robot architecture designed for a single robot is not necessarily valid when this robot has to interact with other robots Only one of the taxonomies mentioned in section 362 ([178]) proposes a definition of a multi-robot system group architecture It is an element which provides the infrastructure upon which collective behaviors are implemented, and determines the capabilities and limitations of the system This is just a functional de nition, so components of the architecture or integration aspects are not mentioned In the literature, relatively little work has covered those aspects Research in multi-robot systems has focused primarily on construction and validation of working systems, as opposed to more general analysis.

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A major motivation for the development of the Grid architecture was to develop new capabilities for resource sharing. Grid abstraction capabilities allow for largescale resource sharing among multiple distributed locations at sites world-wide. Grid resource sharing enables collaborative groups and virtual organizations to be established at any point that has access to a Grid environment. Current initiatives in Grid networking are providing extensions to methods for large-scale network resource sharing that allow for better end-delivered communication services as well as for better utilization of resources, while maintaining overall flexibility for applications and infrastructure. These methods are also addressing a number of inherent network complexities. For example, collision-free addressing allows virtual organization participants to join and leave the group without any risk of a conflict arising from their network address. The popular use of network address translation (NAT) devices and network address port translation (NAPT) devices has greatly complicated, possibly compromised, any direct use of IP addresses as part of an endpoint s unique denomination. For example, protocols that transmit IP addresses within the packet payload are at high risk of failing whenever there are NAT/NAPT intervening devices. There have been documented cases of hosts joining a Grid while transmitting from locations that have NATs nested three or four levels deep. Therefore, the use of IPv4 addresses for participant s identification would become utterly meaningless. Also, the dualism between IPv4 and IPv6 addresses would be awkward to manage at the Grid infrastructure level. Therefore, it is mandatory to standardize rules to provide consistent and unambiguous addressing and address resolution in spite of arbitrary incidence of NAT/NAPT-like devices. Grid networking initiatives are devising solutions to address this issue.

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As a result, we can nd many architectures for multi-robot coordination, but relatively few formal models A list of representative working architectures developed during the last few years could include SWARM [184], ACTRESS [185], CEBOT [186], GOFER [187], ALLIANCE [188], MARTHA [189, 190] and COMETS among others..

mail is terribly useful one of the key tools for the connected age with an emphasis on terribly. Email is both terrible and useful at the same time. Email offers complete interoperability: you need only know someone s email address to be able to contact them, unlike with instant messaging, where different services mostly won t work with each other. Email allows you to work on your own schedule while I work on mine, giving us potentially higher productivity than if we had to communicate at a time convenient to both of us. And email offers some minimal level of access control. You can decide who you want to send a message to, though you know it could get forwarded to someone else in the future. Even with all those benefits, in the connected age you ll probably find yourself moving away from email, for many reasons. As its volume increases, people look to other tools. Younger generations find it outmoded and oldfashioned. Junk, viruses, and scams can make it unpleasant. New channels and platforms, like instant messaging and social networking, suit collaborative and connected work better. Here s what you ll find in this chapter:

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