Our Research
- ICCD: CRDT-Based Intent Propagation over Contact-Plan DTN — million-agent probe swarms at hour-scale light delay.
- Density-Modulated Boids and Stigmergic Coverage — phase transitions in 500k-agent exploration swarms with critical-exponent measurements and a Vicsek universality-class result.
- Energy-Aware Hierarchical Markets for Autonomous Lunar Construction — macro–micro coordination versus a real OR-Tools MILP planner, with M/M/c queueing decoupling.
- Reproducibility runbooks — per-paper seed trees, wheel SHAs, and canonical
exp_ids. - Arboria Swarm Benchmark — canonical scenarios and baselines every new policy reports against.
- Publications — structured citation list with BibTeX.
Cross-paper appendix: Eventually Consistent State Abstractions
Three different parts of the Arboria stack — the ICCD intent payload, the TF-ACO pheromone field, and the HMA depot inventory — all need the same property: distributed replicas that converge under partition without a central arbiter. We use one consistency abstraction across all three.
The abstraction. Each piece of distributed state is expressed as a composite CRDT built from primitives:
- LWW register — for monotonic-by-timestamp scalars (intent goal coordinates, current pheromone evaporation epoch, depot SOC headroom).
- G-Counter / PN-Counter — for monotonic-by-cause scalars (deposit counts, dispensed-mass tallies).
- OR-Set — for membership-by-tag (active constraints, registered haulers, occupied tasks).
- Vector clock — for causal context across replicas.
Composition (Theorem 1 in the ICCD Appendix A) closes the join-semilattice property over finite products of primitives, so the composite state inherits associativity, commutativity, idempotence, and convergence under eventually-feasible delivery.
Per-paper instantiation.
| Paper | What’s distributed | Composite CRDT |
|---|---|---|
| ICCD | Mission intent (goal, constraints, summary) | LWW × OR-Set × VectorClock |
| DMB + TF-ACO | Per-cell pheromone (deposit count + evaporation epoch) | G-Counter × LWW |
| HMA | Depot inventory (mass-in, mass-out, hauler claims) | PN-Counter × OR-Set |
Each instance is reconciled with the same merge machinery in gossamer.crdt, so a single bug fix or improvement to the merge layer benefits all three papers. This is the structural reason the Arboria stack does not need a separate “consensus protocol” per paper.
Unified symbols
A single symbols table lives in ICCD Appendix F and is referenced by both other papers; ψ, AoI, ε, and χ mean the same thing across the three.