We address the problem of sparse selection of visual features for localizing a team of robots navigating in an unknown environment, where robots can exchange relative position measurements with neighbors. We select a set of the most informative features by anticipating their importance in robots localization by simulating trajectories of robots over a prediction horizon. Through theoretical proofs, we establish a crucial connection between graph Laplacian and the importance of features. We leverage a scalable randomized algorithm for sparse sums of positive semidefinite matrices to efficiently select a set of the most informative features.

As increasingly larger memories are used to bridge the widening gap between processor and disk speeds, main memory energy consumption is becoming increasingly dominant. Even though much prior research has been conducted on memory energy management, no study has focused on data servers, where main memory is predominantly accessed by DMAs instead of processors. In this paper, we study DMA-aware techniques for memory energy management in data servers. We first characterize the effect of DMA accesses on memory energy and show that, due to the mismatch between memory and I/O bus band-widths, significant energy is wasted when memory is idle but still active during DMA transfers. To reduce this waste, we propose two novel performance-directed energy management techniques that maximize the utilization of memory devices by increasing the level of concurrency between multiple DMA transfers from different I/O buses to the same memory device. We evaluate our techniques using a detailed trace-driven simulator, and storage and database server traces. The results show that our techniques can effectively minimize the amount of idle energy waste during DMA transfers and, consequently, conserve up to 38.6% more memory energy than previous approaches while providing similar performance.

Memory can be efficiently utilized if the dynamic memory demands of applications can be determined and analyzed at run-time. The page miss ratio curve(MRC), i.e. page miss rate vs. memory size curve, is a good performance-directed metric to serve this purpose. However, dynamically tracking MRC at run time is challenging in systems with virtual memory because not every memory reference passes through the operating system (OS).This paper proposes two methods to dynamically track MRC of applications at run time. The first method is using a hardware MRC monitor that can track MRC at fine time granularity. Our simulation results show that this monitor has negligible performance and energy overheads. The second method is an OS-only implementation that can track MRC at coarse time granularity. Our implementation results on Linux show that it adds only 7--10% overhead.We have also used the dynamic MRC to guide both memory allocation for multiprogramming systems and memory energy management. Our real system experiments on Linux with applications including Apache Web Server show that the MRC-directed memory allocation can speed up the applications' execution/response time by up to a factor of 5.86 and reduce the number of page faults by up to 63.1%. Our execution-driven simulation results with SPEC2000 benchmarks show that the MRC-directed memory energy management can improve the Energy * Delay metric by 27--58% over previously proposed static and dynamic schemes.