To date, commercial industrial robots only provide multi-robot coordination for their own fleet of robots and treat robots from other vendors as general obstacles. The ability to enable robots from different vendors to co-exist in the same space is crucial to prevent vendor lock-in. We present the first decentralized system that achieves coordination between a heterogeneous fleet of black box robots for which the internals of the navigation stack are presumed unmodifiable. Our system, which we call CODAK, achieves the coordination by relying on minimum set of interfaces that are commonly available on most industrial and service robots. For each robot, CODAK uses a trained recurrent neural network to anticipate collisions from externally observable metrics. Anticipated collisions are avoided using a simple, but yet effective, concurrency control scheme. We run a series of experiments in simulation and with real robots to demonstrate CODAK’s ability to enable safe navigation in different environments. We also experimentally compare CODAK with previously published white-box solutions to evaluate the penalty of black-box constraint.

This special section features the latest research contributions regarding the design and management of reliable networks. Reliability of communication infrastructure is a top priority for network operators. To ensure reliable network operation, new design and management techniques for reliable communications must be constantly devised to respond to the rapid network and service evolution. As a recent and relevant example, deployments of 5G communication networks will soon enter their second phase, during which the network infrastructure will require upgrades to support new Ultra-Reliable Low-Latency Communication (URLLC) services with availabilities of up to 6 nines to be guaranteed jointly with extremely low latencies. Even in the still preliminary vision of 6G communication networks, reliability is posed as one of the most critical requirements, as 6G networks will represent the communication platform of our future hyper-connected society, supporting essential services as smart mobility, e-health, and immersive environments with application in remote education and working, just to name a few. Similarly, disaster resiliency in communication networks is now attracting the attention of media, government and industry as never before (consider, e.g., the worldwide network traffic deluge to support remote working during the current Coronavirus pandemic). Luckily, several new technical directions can be leveraged to provide new solutions for network reliability as: increased network reconfigurability enabled by Software Defined Networking (SDN); integration/convergence of multiple technologies (optical, wireless satellite, datacenter networks); enhanced forms of data/service replication, supported by, e.g., edge computing; network slicing, used to carve highly-reliable logical partitions of network, computing and storage resources. These, and many others, technological transformations can be leveraged to enable next-generation high-reliability networks.

Multi-access edge computing (MEC) has recently emerged as a novel paradigm to facilitate access to advanced computing capabilities at the edge of the network, in close proximity to end devices, thereby enabling a rich variety of latency sensitive services demanded by various emerging industry verticals. Internet-of-Things (IoT) devices, being highly ubiquitous and connected, can offload their computational tasks to be processed by applications hosted on the MEC servers due to their limited battery, computing, and storage capacities. Such IoT applications providing services to offloaded tasks of IoT devices are hosted on edge servers with limited computing capabilities. Given the heterogeneity in the requirements of the offloaded tasks (different computing requirements, latency, and so on) and limited MEC capabilities, we jointly decide on the task offloading (tasks to application assignment) and scheduling (order of executing them), which yields a challenging problem of combinatorial nature. Furthermore, we jointly decide on the computing resource allocation for the hosted applications, and we refer this problem as the Dynamic Task Offloading and Scheduling problem, encompassing the three subproblems mentioned earlier. We mathematically formulate this problem, and owing to its complexity, we design a novel thoughtful decomposition based on the technique of the Logic-Based Benders Decomposition. This technique solves a relaxed master, with fewer constraints, and a subproblem, whose resolution allows the generation of cuts which will, iteratively, guide the master to tighten its search space. Ultimately, both the master and the sub-problem will converge to yield the optimal solution. We show that this technique offers several order of magnitude (more than 140 times) improvements in the run time for the studied instances. One other advantage of this method is its capability of providing solutions with performance guarantees. Finally, we use this method to highlight the insightful performance trends for different vertical industries as a function of multiple system parameters with a focus on the delay-sensitive use cases.

Middleboxes have gained popularity due to the significant value-added services these network elements provide to traffic flows, in terms of enhanced performance and security. Policy-aware traffic flows usually need to traverse multiple middleboxes in a predefined order to satisfy their associated policy, also known as Service Function Chaining. Typically, Middleboxes run on specialized hardware, which make them highly inflexible to handle the unpredictable and fluctuating-nature of traffic, and contribute to significant capital and operational expenditures (Cap-ex and Op-ex) to provision, accommodate, and maintain them. Network Function Virtualization is a promising technology with the potential to tackle the aforementioned limitations of hardware middleboxes. Yet, NFV is still in its infancy, and there exists several technical challenges that need to be addressed, among which, the Virtual Network Function assignment problem tops the list. The VNF assignment problem stems from the newly gained flexibility in instantiating VNFs (on-demand) anywhere in the network. Subsequently, network providers must decide on the optimal placement of VNF instances which maximizes the number of admitted policy-aware traffic flows across their network. Existing work consists of Integer Linear Program (ILP) models, which are fairly unscalable, or heuristic-based approaches with no guarantee on the quality of the obtained solutions. This work proposes a novel Logic-Based Benders Decomposition (LBBD) based approach to solve the VNF assignment problem. It consists of decomposing the problem into two subproblems: a master and a subproblem; and at every iteration constructive Benders cuts are introduced to the master to tighten its search space. We compared the LBBD approach against the ILP and a heuristic method, and we show that our approach achieves the optimal solution (as opposed to heuristic-based methods) 700 times faster than the ILP.

Network virtualization (NV), considered as a key enabler for overcoming the ossification of the Internet allows multiple heterogeneous virtual networks to co-exist over the same substrate network. Resource allocation problems in NV have been extensively studied for single layer substrates such as IP or Optical networks. However, little effort has been put to address the same problem for multi-layer IP-over-optical networks. The increasing popularity of multi-layer networks for deploying backbones combined with their unique characteristics ( e.g., topological flexibility of the IP layer) calls for the need to carefully investigate the resource provisioning problems arising from their virtualization. In this paper, we address the problem of multi-layer virtual network embedding (MULE; similar to multi-layer networks, this hybrid species brings the best of two species together.) on IP-over-optical networks. We propose two solutions to MULE: 1) an integer linear program formulation for the optimal solution (OPT-MULE) and 2) a heuristic to address the computational complexity of the optimal solution (FAST-MULE). We demonstrate through extensive simulations that on average our heuristic performs within $\boldsymbol \approx 1.47\boldsymbol \times $ of optimal solution while executing several orders of magnitude faster. Simulation results also show that FAST-MULE incurs ≈66% less cost on average than the state-of-the-art heuristic while accepting ≈60% more virtual network requests on average.

Network Virtualization (NV), considered as a key enabler for overcoming the ossification of the Internet allows multiple heterogeneous virtual networks to co-exist over the same substrate network. Resource allocation problems in NV have been extensively studied for single layer substrates such as IP or Optical networks. However, little effort has been put to address the same problem for multi-layer IP-over-Optical networks. The increasing popularity of multi-layer networks for deploying backbones combined with their unique characteristics (e.g., topological flexibility of the IP layer) calls for the need to carefully investigate the resource provisioning problems arising from their virtualization. In this paper, we address the problem of MUlti-Layer virtual network Embedding (MULE) on IP-overOptical networks. We propose two solutions to MULE: an Integer Linear Program (ILP) formulation for the optimal solution and a heuristic to address the computational complexity of the optimal solution. We demonstrate through extensive simulations that on average our heuristic performs within ≈1.47 × of optimal solution and incurs ≈66% less cost than the state-of-the-art heuristic.

In cloud data centers (DCs), where hosted applications share the underlying network resources, network bandwidth guarantees have shown to improve predictability of application performance and cost. However, recent empirical studies have also shown that often DC devices and links are not all that reliable and that failures may cause service outages, rendering significant revenue loss for the affected tenants, as well as the cloud operator. Accordingly, cloud operators are pressed to offer both reliable and predictable performance for the hosted applications. While much work has been done on solving both problems separately, this paper seeks to develop a joint framework by which cloud operators can offer both performance and availability guarantees for the hosted tenants. In particular, this paper considers a simple model to abstract the bandwidth guarantees requirement for the tenant and presents a protection plan design which consists of backup virtual machines (VMs) placement and bandwidth provisioning to optimize the internal DC traffic. We show through solid motivational examples that finding the optimal protection plan design is highly perplexing, and encompasses several constituent challenges. Owing to its complexity, we decompose it into two subproblems, and solve them separately. First, we invoke a placement subproblem of the minimum number of backup VMs and then we explore the most efficient correspondence between backup and primary VMs (i.e., protection plan) which minimizes the bandwidth redundancy. Further, we study the design of various facets of such a plan by exploiting bandwidth sharing opportunities in multi-tenant cloud networks.

Virtual network embedding (VNE) is defined as the allocation of network resources to multiple virtual networks (VNs) and is recognized to be a challenging task to perform efficiently. Virtual network survivability is a new term that describes the measures taken to provide a failure-proof VN against physical link and/or node failure. Indeed, a single link or node failure in a substrate network can bring down multiple hosted VNs, i.e., the ones that utilize that failed link or node. As such, virtual network survivability becomes an essential part of VNE. While much work has been dedicated to studying the impact of a variety of failure cases in a VN, little attention has been directed towards studying the link failure impact on multicast virtual network (MVN) applications, which principally restrict end-to-end delay and delay variation measures. In fact, most of the introduced survivability schemes adopt protection techniques by reserving backup resources prior to embedding, which inevitably leads to under-utilization of the network resources. In this paper, we first investigate the impact of physical link failure on MVNs. Then, we introduce a novel recovery approach to restore MVNs while considering their end-delay and delay variation requirements. Simulation experiments prove that our recovery technique achieves good restoration ratio in considerably fast execution time and low link mapping cost with little impact on the admittance ratio.

This paper proposes a novel framework for managing the resource provisioning of reliable virtual networks (VN) in the cloud. This includes handling the placement of VN requests while providing availability guarantees, as well as reconfiguring/adapting their placement as their request changes over time. This is particularly interesting for services with periodic resource demands. Given the heterogeneous failure rates of physical network components, the placement and reconfiguration must ensure that the selected hosts for each VN meets its availability requirements. The existing work on availability-aware VN placement has overlooked the case of “availability over-provisioning,” as well as the fact that VN requests are subject to change over time. To this extent, we propose a novel framework that consists of two main modules; JENA: a tabu-based availability-aware resource allocation (embedding) module for VNs that achieves “just-enough” availability guarantees, and ARES: a reliable reconfiguration module to adapt the embedding of hosted services as they scale. Further, we introduce the concept of “protection-domains” and “protection-policies” to equip our proposed modules with the ability to augment services with redundant/backup nodes to enhance their reliability. Our numerical results show that our framework enhances network's admissibility (with 33% lower blocking compared to existing work), and in return increases the cloud provider's long term revenue, compared to peer and benchmark algorithms.

This paper deals with the multiple link/node substrate failures that impact a multicast virtual network (MVN) in which link recovery is not feasible and node migration is mandatory. A novel restoration approach is introduced to repair the failed MVNs while maintaining their quality of service requirements (e.g., end-to-end delay and delay variations). This approach relies on reducing the search region and exploiting nodes ranking and filtering (NRF) techniques to speed up the recovery process of finding an alternative node to which to migrate. The performance is extensively evaluated against multiple failures, with and without NRF, compared with complete re-embedding technique, link failure algorithms for single link failure, and previous work for single node failure. Simulation results prove that our recovery technique achieves good restoration ratio in considerably fast execution time, low link mapping cost (gain) with a slight impact on the admission ratio.

In a virtualized infrastructure where multiple virtual networks (or tenants) are running atop the same physical network (e.g., a data center network), a single facility node (e.g., a server) failure can bring down multiple virtual machines, disconnecting their corresponding services and leading to millions of dollars in penalty cost. To overcome losses, tenants or virtual networks can be augmented with a dedicated set of backup nodes and links provisioned with enough backup resources to assume any single facility node failure. This approach is commonly referred to as Survivable Virtual Network (SVN) design. The achievable reliability guarantee of the resultant SVN could come at the expense of lowering the substrate network utilization efficiency, and subsequently its admissibility, since the provisioned backup resources are reserved and remain idle until failures occur. Backup-sharing can replace the dedicated survivability scheme to circumvent the inconvenience of idle resources and reduce the footprints of backup resources. Indeed the problem of SVN design with backup-sharing has recurred multiple times in the literature. In most of the existing work, designing an SVN is bounded to a fixed number of backup nodes; further backup-sharing is only explored and optimized during the embedding phase. This renders the existing redesign techniques agnostic to the backup resource sharing in the substrate network, and highly dependent on the efficiency of the adopted mapping approach. In this paper, we diverge from this dogmatic approach, and introduce ProRed, a novel prognostic redesign technique that promotes the backup resource sharing at the virtual network level, prior to the embedding phase. Our numerical results prove that this redesign technique achieves lower-cost mapping solutions and greatly enhances the achievable backup sharing, boosting the overall network's admissibility.

Network virtualization enables the multi-tenancy concept where multiple tenants's services can cohabit the same substrate network and share its resources. With multi-tenancy, the problem of allocating resources to the various tenants emerges as a challenging problem. This former is commonly known as the virtual network embedding problem (VNE), which has attracted numerous effort from the research industry due to its NP-Hard nature. Yet, most of the existing work overlook the various modes of communication a virtual network (VN) can exhibit, assuming it is always a one-to-one communication between virtual machines (VMs). The recent technological advancements (such as Software Defined Networks (SDNs)) have paved the way for efficient multicast in data center networks, thereby leveraging the support of services and applications which multicast data in large volumes. While much work has been devoted for studying the problem of multicast virtual network (MVN) embedding in the cloud, little attention has been paid to investigating the impact of failure on this service class. In this paper, we study the impact of facility node failure on embedded MVNs, and introduce a novel post-failure restoration scheme to repair failed MVNs while maintaining their requested Quality of Service (QoS). Our numerical results prove that our suggested method achieves encouraging restoration ratio in considerably fast execution time.

Network virtualization is regarded as the pillar of cloud computing, enabling the multi-tenancy concept where multiple Virtual Networks (VNs) can cohabit the same substrate network. With network virtualization, the problem of allocating resources to the various tenants, commonly known as the Virtual Network Embedding problem, emerges as a challenge. Its NP-Hard nature has drawn a lot of attention from the research community, many of which however overlooked the type of communication that a given VN may exhibit, assuming that they all exhibit a one-to-one (unicast) communication only. In this paper, we motivate the importance of characterizing the mode of communication in VN requests, and we focus our attention on the problem of embedding VNs with a one-to-many (multicast) communication mode. Throughout this paper, we highlight the unique properties of multicast VNs and its distinct Quality of Service (QoS) requirements, most notably the end-delay and delay-variation constraints for delay-sensitive multicast services. Further, we showcase the limitations of handling a multicast VN as unicast. To this extent, we formally define the VNE problem for Multicast VNs (MVNs) and prove its NP-Hard nature. We propose two novel approach to solve the Multicast VNE (MVNE) problem with end-delay and delay variation constraints: A 3-Step MVNE technique, and a Tabu-Search algorithm. We motivate the intuition behind our proposed embedding techniques, and provide a competitive analysis of our suggested approaches over multiple metrics and against other embedding heuristics.

Network virtualization enables the multi-tenancy concept and paves the way towards more advancements and innovation in the underlying infrastructure. With network virtualization, allocating resources to Virtual Networks (VNs) that represent tenants' requests emerges as a challenging problem. This problem is commonly known as the Virtual Network Embedding (VNE) problem, and its NP-Hard nature has drawn a lot of attention from the research community. A common feature in the existing work is that the type of communication in the VN requests was never characterized, assuming that they exhibit unicast communication only. In this paper, we motivate the importance of characterizing the type of communication in VN requests. We present a formal definition of the VNE problem for VNs with multicast communication. To the best of our knowledge, the multicast VNE problem has not been addressed in the frame of cloud computing, where the location of all the virtual machines in a given multicast VN is unknown. We propose a novel 3-steps heuristic to solve the multicast VNE problem with end-delay and delay variation constraints. Our numerical results prove the efficiency of our suggested approach over multiple metrics and against numerous embedding heuristics.

While many have advocated for the use of Virtual Local Area Networks (VLANs) as a way to provide scalable traffic management, finding the optimal traffic split (mapping) among VLANs to achieve load balancing has turned out to be a very challenging and combinatorially complex problem to solve. This paper considers the traffic engineering problem in data center networks by studying the joint problem of finding spanning trees for VLANs and optimally selecting the most promising spanning trees to map the traffic flows onto. We mathematically model this problem using Integer Linear Program (ILP) techniques and follow a primal-dual decomposition approach, using column generation, to solve exactly a relaxed mapping version of the problem, as well we present approximate solutions to the original problem. We show through numerical evaluations an outstanding scalability of the decomposed version of the problem and we use our results to study the performance of traffic engineering protocols developed in recent literature for data center networks.

Cloud Computing is becoming a mainstream paradigm, as organizations, large and small, begin to harness its benefits. This novel technology brings new challenges, mostly in the protocols that govern its underlying infrastructure. Traffic engineering in cloud data centers is one of these challenges that has attracted attention from the research community, particularly since the legacy protocols employed in data centers offer limited and unscalable traffic management. Many advocated for the use of VLANs as a way to provide scalable traffic management, however, finding the optimal traffic split between VLANs is the well known NP-Complete VLAN assignment problem. The size of the search space of the VLAN assignment problem is huge, even for small size networks. This paper introduce a novel decomposition approach to solve the VLAN mapping problem in cloud data centers through column generation. Column generation is an effective technique that is proven to reach optimality by exploring only a small subset of the search space. We introduce both an exact and a semi-heuristic decomposition with the objective to achieve load balancing by minimizing the maximum link load in the network. Our numerical results have shown that our approach explores less than 1% of the available search space, with an optimality gap of at most 4%. We have also compared and assessed the performance of our decomposition model and state of the art protocols in traffic engineering. This comparative analysis proves that our model attains encouraging gain over its peers.

We propose in this paper a new approach for the dynamic enforcement of Web services security, which is based on a synergy between Aspect-Oriented Programming (AOP) and composition of Web services. Security policies are specified as aspects. The elaborated aspects are then weaved (integrated) in the Business Process Execution Language (BPEL) process at runtime. The main contributions of our approach are threefold: (1) separating the business and security concerns of composite Web services, and hence developing them separately (2) allowing the modification of the Web service composition at run time and (3) providing modularity for modeling cross-cutting concerns between Web services. We demonstrate the feasibility of our approach by developing a Flight System (FS) that is composed of several Web services. First, a RBAC (Role Based Access Control) model for the flight system, which we called RBAC-FS, is elaborated. Afterwards, the Web services that implement the security features are developed. Finally, the BPEL aspects that integrate the security functionalities dynamically into the BPEL process are created. The devised aspects realize the elaborated RBAC-FS model and provide authentication and access control features to the flight system. Case studies and experimental results are also presented to defend our propositions.