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NASA NTRS1986

Multiple grid problems on concurrent-processing computers

Three computer codes were studied which make use of concurrent processing computer architectures in computational fluid dynamics (CFD). The three parallel codes were tested on a two processor multiple-instruction/multiple-data (MIMD) facility at NASA Ames Research Center, and are suggested for efficient parallel computations. The first code is a well-known program which makes use of the Beam and Warming, implicit, approximate factored algorithm. This study demonstrates the parallelism found in a well-known scheme and it achieved speedups exceeding 1.9 on the two processor MIMD test facility. The second code studied made use of an embedded grid scheme which is used to solve problems having complex geometries. The particular application for this study considered an airfoil/flap geometry in an incompressible flow. The scheme eliminates some of the inherent difficulties found in adapting approximate factorization techniques onto MIMD machines and allows the use of chaotic relaxation and asynchronous iteration techniques. The third code studied is an application of overset grids to a supersonic blunt body problem. The code addresses the difficulties encountered when using embedded grids on a compressible, and therefore nonlinear, problem. The complex numerical boundary system associated with overset grids is discussed and several boundary schemes are suggested. A boundary scheme based on the method of characteristics achieved the best results.

Eberhardt, D. S.↗

DOE OSTI2017

Modeling UV Radiation Feedback from Massive Stars. I. Implementation of Adaptive Ray-tracing Method and Tests [Modeling UV Radiation Feedback from Massive Stars: I. Implementation of Adaptive Ray Tracing Algorithm]

Here, we present an implementation of an adaptive ray-tracing (ART) module in the Athena hydrodynamics code that accurately and efficiently handles the radiative transfer involving multiple point sources on a three-dimensional Cartesian grid. We adopt a recently proposed parallel algorithm that uses nonblocking, asynchronous MPI communications to accelerate transport of rays across the computational domain. We validate our implementation through several standard test problems, including the propagation of radiation in vacuum and the expansions of various types of H II regions. Additionally, scaling tests show that the cost of a full ray trace per source remains comparable to that of the hydrodynamics update on up to $\sim {10}^{3}$ processors. To demonstrate application of our ART implementation, we perform a simulation of star cluster formation in a marginally bound, turbulent cloud, finding that its star formation efficiency is 12% when both radiation pressure forces and photoionization by UV radiation are treated. We directly compare the radiation forces computed from the ART scheme with those from the M 1 closure relation. Although the ART and M 1 schemes yield similar results on large scales, the latter is unable to resolve the radiation field accurately near individual point sources.

79 ASTRONOMY AND ASTROPHYSICS↗

NASA NTRS1989

Dynamic grid refinement for partial differential equations on parallel computers

The fast adaptive composite grid method (FAC) is an algorithm that uses various levels of uniform grids to provide adaptive resolution and fast solution of PDEs. An asynchronous version of FAC, called AFAC, that completely eliminates the bottleneck to parallelism is presented. This paper describes the advantage that this algorithm has in adaptive refinement for moving singularities on multiprocessor computers. This work is applicable to the parallel solution of two- and three-dimensional shock tracking problems.

Mccormick, S.↗

DOE OSTI2019

Harnessing billions of tasks for a scalable portable hydrodynamic simulation of the merger of two stars

We propose a highly scalable demonstration of a portable asynchronous many-task programming model and runtime system applied to a grid-based adaptive mesh refinement hydrodynamic simulation of a double white dwarf merger with 14 levels of refinement that spans 17 orders of magnitude in astrophysical densities. The code uses the portable C++ parallel programming model that is embodied in the HPX library and being incorporated into the ISO C++ standard. The model reflects a significant shift from existing bulk synchronous parallel programming models under consideration for exascale systems. Through the use of the Futurization technique, seemingly sequential code is transformed into wait-free asynchronous tasks. We demonstrate the potential of our model by showing results from strong scaling runs on National Energy Research Scientific Computing Center’s Cori system (658,784 Intel Knight’s Landing cores) that achieve a parallel efficiency of 96.8% using billions of asynchronous tasks.

79 ASTRONOMY AND ASTROPHYSICS↗

DOE OSTI2016

On the Degradation of the Effectiveness of Nonlinear Diffusion Acceleration with Parallel Block Jacobi Splitting

MOOSE's radiation transport module Rattlesnake comprises a first order S N solver that can be accelerated with a flexible Nonlinear Diffusion Acceleration. At each NDA iteration, the streaming and collision operator of the S{sub N} equations are (approximately) inverted using a transport sweep. When executed on multiple processors parallel block Jacobi (PBJ) splitting is utilized lagging the processor sub-domain's incoming angular fluxes making the implemented method asynchronous, i.e. the convergence properties of NDA become dependent on the number of concurrent tasks and details of the partitioning. Within this work, we study the NDA convergence properties for the two-dimensional C5G7 benchmark problem PBJ with p = 1, 2, 4, 8, 12, 16, 24, 32, 48, 60, 72, 96 and 144 concurrent tasks. Rosa studied the convergence properties of PBJ splitting methods with and without transport synthetic acceleration (TSA) in slab geometry and two-dimensional Cartesian geometry, respectively. Rosa's iteration scheme lags both the incoming angular fluxes and the scattering source making it very similar to the method described here. Rosa found by means of Fourier analysis that convergence of unaccelerated PBJ can degrade for optically thin subdomains, i.e. for a large number of processors given a fixed domain size. Depending on the choice of parameters application of TSA can lead to an effective algorithm. In contrast to Rosa's work, this work focuses on PBJ splitting for NDA accelerated solution of the multigroup eigenvalue problem. Later, Zerr and Anistratov used their integral transport matrix method in conjunction with PBJ. This iteration scheme is different as it does not lag the scattering source. Nevertheless, Fourier analysis with Diamond Difference spatial discretization showed that the method degrades with increasing the overall size of the spatial domain while keeping the sub-domain size constant. In the case of an infinite medium, the observed spectral radius becomes unity. These references establish the iterative performance of PBJ for one-group fixed source problems discretized on rectangular cells, but for the Rattlesnake first order NDA method, an emphasis lies on multigroup eigenvalue problems. In this setting, the additional complication arises that the low order equations are not exactly inverted, but only to some iterative criterion. Further, as the low order problem is solved using Jacobian-Free Newton Krylov methods, a suitable preconditioner for the GMRES iterations is required. As the effectiveness of the preconditioners may decrease when more concurrent processes are used, we expect the low order solve to impact the overall effectiveness of the NDA method in parallel execution as well. Therefore, this work focuses on the question of how detrimental the asynchronicity of the high and low order iterative solutions is for the effectiveness of NDA solutions of realistic, unstructured grid, multigroup eigenvalue problems. The iterative convergence properties of Rattlesnake's NDA method for multigroup eigenvalue problems are studied for varying number of concurrent processes. Rattlesnake's NDA method is asynchronous because the high order transport sweep uses PBJ splitting and because the low order solve's preconditioners, algebraic multigrid and additive Schwarz, are asynchronous. We found that up to 144 processes the number of Picard iterations increases by a factor of 2-3 affecting but not destroying NDA's parallel performance for the C5G7 benchmark problem, a representative LWR (light water reactor) configuration. The solution of the NDA low order eigenvalue problem posed greater problems than expected for the solvers currently available in Rattlesnake mainly because of problems to effectively precondition the modified low-order problem. As a matter of fact, the low order problem becomes an advection-diffusion problem. Non-robustness was observed for the AMG preconditioned coarse mesh acceleration for more than 60 concurrent processes, which was fixed by increasing the number of permissible V-cycles per AMG call. For fine mesh acceleration AMG proved to be ineffective and we resorted to ASM. For both AMG and ASM, increasing number of linear iterations per nonlinear are observed when increasing the number of processes, but for ASM this problem appears to be worse. The results from this work also indicate that initial development efforts should be diverted from implementation of a high-order parallel sweeping algorithm to the effective and robust iterative solution of the low order NDA multigroup eigenvalue problem. (authors)

97 MATHEMATICS AND COMPUTING↗

NASA NTRS1992

Mathematical Modeling Of The Terrain Around A Robot

In conceptual system for modeling of terrain around autonomous mobile robot, representation of terrain used for control separated from representation provided by sensors. Concept takes motion-planning system out from under constraints imposed by discrete spatial intervals of square terrain grid(s). Separation allows sensing and motion-controlling systems to operate asynchronously; facilitating integration of new map and sensor data into planning of motions.

Slack, Marc G.↗

DOE OSTI2019

Transparent Asynchronous Zero-copy Remote I/O (TAZeR)

Transparent Asynchronous Zero-copy Remote I/O (TAZeR) is a framework built to facilitate grid computing by easing the memory movement and management across geographically separated computing resources. TAZeR employs a multiclient/ multi-server paradigm where data is stored at on a remote server. Users preload an interposing library which upon application start-up, stands up an ephemeral lightweight client. The client captures POSIX I/O calls to TAZeR meta-files which contains the IP address/port of the remote server, the location of the file on remote server, and additional meta-data. The client connects to the server using this information and begins downloading the file in parts optionally compressing the data.

Friese, Ryan↗

DOE OSTI2017

The fusion code XGC: Enabling kinetic study of multi-scale edge turbulent transport in ITER [Book Chapter]

The XGC fusion gyrokinetic code combines state-of-the-art, portable computational and algorithmic technologies to enable complicated multiscale simulations of turbulence and transport dynamics in ITER edge plasma on the largest US open-science computer, the CRAY XK7 Titan, at its maximal heterogeneous capability, which have not been possible before due to a factor of over 10 shortage in the time-to-solution for less than 5 days of wall-clock time for one physics case. Frontier techniques such as nested OpenMP parallelism, adaptive parallel I/O, staging I/O and data reduction using dynamic and asynchronous applications interactions, dynamic repartitioning for balancing computational work in pushing particles and in grid related work, scalable and accurate discretization algorithms for non-linear Coulomb collisions, and communication-avoiding subcycling technology for pushing particles on both CPUs and GPUs are also utilized to dramatically improve the scalability and time-to-solution, hence enabling the difficult kinetic ITER edge simulation on a present-day leadership class computer.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

DOE OSTI2018

Automatic Halo Management for the Uintah GPU-Heterogeneous Asynchronous Many-Task Runtime

The Uintah computational framework is used for the parallel solution of partial differential equations on adaptive mesh refinement grids using modern supercomputers. Uintah is structured with an application layer and a separate runtime system. Uintah is based on a distributed directed acyclic graph of computational tasks, with a task scheduler that efficiently schedules and executes these tasks on both CPU cores and on-node accelerators. The runtime system identifies task dependencies, creates a task graph prior to the execution of these tasks, automatically generates MPI message tags, and automatically performs halo transfers for simulation variables. Automating halo transfers in a heterogeneous environment poses significant challenges when tasks compute within a few milliseconds, as runtime overhead affects wall time execution, or when simulation variables require large halos spanning most or all of the computational domain, as task dependencies become expensive to process. These challenges are magnified at production scale when application developers require each compute node perform thousands of different halo transfers among thousands simulation variables. The principal contribution of this work is to (1) identify and address inefficiencies that arise when mapping tasks onto the GPU in the presence of automated halo transfers, (2) implement new schemes to reduce runtime system overhead, (3) minimize application developer involvement with the runtime, and (4) show overhead reduction results from these improvements.

Concurrency↗

DOE OSTI2017

Asynchronous space–time domain decomposition method with localized uncertainty quantification

The computational cost associated with uncertainty quantification of engineering problems featuring localized phenomenon can be reduced by confining the random variability of the model parameters within a region of interest. Here in this case, a localized treatment of mesh and time resolutions is required to capture the effect of the confined material uncertainty on the global response. We present a computational approach for localized uncertainty quantification with the capability of asynchronous treatment of mesh and time resolutions. In particular, we allow each subdomain to have its local uncertainty representation and the corresponding mesh and time resolutions. As a result, computing resources can be directed toward a small region of interest where a model with high spatial and temporal resolutions is required. To verify the numerical implementation, we consider elastic wave propagation in an axially loaded beam. Moreover, we perform convergence studies with respect to the spatial and temporal discretizations as well as the size of an uncertain subdomain. A projectile impacting a composite sandwich plate is considered as an engineering application for the proposed method.

42 ENGINEERING↗

DOE OSTI2023

Peak Reduction Using Mode Adjustment of Heat Pump Water Heaters in a Residential Neighborhood

Building electrification is putting pressure on distribution grid worldwide. Peak reduction is an important concern that can help reduce the growing stress and allow to defer investments in new capacity. Water heaters represent a convenient way of reducing peak because they are less dependent on weather, and their storage volume allows for asynchronous water heating and hot water use. Previous empirical studies investigated the ability of water heaters to reduce peak through the adjustment of the temperature setpoint. However, not all equipment vendors offer this option. This study aims at understanding the feasibility of peak reduction with an alternative configuration available in the market - by adjusting the device mode rather than temperature setpoint. The peak reduction methodology is tested in an occupied 46-townhome neighborhood located in Atlanta, GA. We find that peak shifting is possible with the adjustable mode approach, with the change in the peak load by 30-60%.

demand response↗

DOE OSTI2022

Software defined grid energy storage

Today, consumer battery installations are isolated, physical devices. Virtual power plants (VPPs) allow consumer devices to aggregate for grid services, but they are are vertically integrated, vendor controlled systems (e.g., Tesla’s VPP). Consumer batteries are therefore unable to participate in energy markets or other grid services outside what their vendor provides. We describe a software system that provides software control of multiple, networked battery energy storage systems in the electric grid. The system introduces two new ideas that enable flexible and dependable management of energy storage. The first is a virtual battery, which can either partition a battery or aggregate multiple batteries. The second is a reservation-based API which allows asynchronous control of batteries to meet contractual guarantees in a safe and dependable manner. Virtual batteries and a reservation-based API address the unique challenges of achieving high and efficient utilization of energy storage systems, including heterogeneity of battery systems such as varying C-rates, participation in energy markets, utility bill management systems, community resource sharing, and reliability. Using a testbed comprised of sonnen Inc. storage units installed in several homes and a lab, we demonstrate that virtualized batteries can seamlessly replace physical batteries, flexibly manage energy storage resources, isolate multiple clients using a shared battery, and create new energy storage applications.

25 ENERGY STORAGE↗

DOE OSTI2016

EMAPS: An Efficient Multiscale Approach to Plasma Systems with Non-MHD Scale Effects

Global interactions of energetic ions with magnetoplasmas and neutral gases lie at the core of many space and laboratory plasma phenomena ranging from solar wind entry into and transport within planetary magnetospheres and exospheres to fast-ion driven instabilities in fusion devices to astrophysics-in-lab experiments. The ability of computational models to properly account for physical effects that underlie such interactions, namely ion kinetic, ion cyclotron, Hall, collisional and ionization processes is important for the success and planning of experimental research in plasma physics. Understanding the physics of energetic ions, in particular their nonlinear resonance interactions with Alfvén waves, is central to improving the heating performance of magnetically confined plasmas for future energy generation. Fluid models are not adequate for high-beta plasmas as they cannot fully capture ion kinetic and cyclotron physics (e.g., ion behavior in the presence of magnetic nulls, shock structures, plasma interpenetration, etc.). Recent results from global reconnection simulations show that even in a MHD-like regime there may be significant differences between kinetic and MHD simulations. Therefore, kinetic modeling becomes essential for meeting modern day challenges in plasma physics. The hybrid approximation is an intermediate approximation between the fluid and fully kinetic approximations. It eliminates light waves, removes the electron inertial temporal and spatial scales from the problem and enables full-orbit ion kinetics. As a result, hybrid codes have become effective tools for exploring ion-scale driven phenomena associated with ion beams, shocks, reconnection and turbulence that control the large-scale behavior of laboratory and space magnetoplasmas. A number of numerical issues, however, make three-dimensional (3D) large-scale hybrid simulations of inhomogeneous magnetized plasmas prohibitively expensive or even impossible. To resolve these difficulties we have developed a novel Event-driven Multiscale Asynchronous Parallel Simulation (EMAPS) technology that replaces time stepping with self-adaptive update events. Local calculations are carried out only on an “as needed basis”. EMAPS (i) guarantees accurate and stable processing of physical variables in time accurate simulations, and (ii) eliminates unnecessary computation. Applying EMAPS to the hybrid model has resulted in the development of a unique parallel code, dimension-independent (compile-time-configurable) HYPERS (Hybrid Parallel Event-Resolved Simulator) that scales to hundreds of thousands of parallel processors. HYPERS advances electromagnetic fields and particles asynchronously on time scales determined by local physical laws and mesh properties. To achieve high computational accuracy in complex device geometries, HYPERS employs high-fidelity Cartesian grids with masked conductive cells. The HYPERS model includes multiple ion species, energy and momentum conserving ion-ion collisions, and provides a number of approximations for plasma resistivity and vacuum regions. Both local and periodic boundary conditions are allowed. The HYPERS solver preserves zero divergence of magnetic field. The project has demonstrated HYPERS capabilities on a number of applications of interest to fusion and astrophysical plasma physics applications listed below. 1. Theta-pinch formation of FRCs The formation, spontaneous spin-up, and stability of theta-pinch formed field-reversed configurations have been studied self-consistently in 3D. The end-to-end hybrid simulations reveal poloidal profiles of implosion-driven fast toroidal plasma rotation and demonstrate three discharge regimes as a function of experimental parameters: the decaying stable configuration, the tilt unstable configuration, and the nonlinear evolution of a fast growing tearing mode. 2. FRC collisions with magnetic mirrors Interactions of fast plasma streams and objects with magnetic obstacles (dipoles, mirrors, etc) lie at the core of many space and laboratory plasma phenomena ranging from magnetoshells and solar wind interactions with planetary magnetospheres to compact fusion plasmas. HYPERS simulations are compared with data from the MSX experiment (LANL) that focuses on the physics of magnetized collisionless shocks through the acceleration and subsequent stagnation of FRC plasmoids against a strong magnetic mirrors and flux-conserving boundaries. 3. Exploding magnetoplasmas Results from hybrid simulations of two experiments at the LAPD and Nevada Terawatt Facility are discussed where short-pulse lasers are used to ablate solid targets to produce plasmas that expand across external magnetic fields. The first simulation recreates flutelike density striations observed at the leading edge of a carbon plasma and predicts an early destruction of the magnetic cavity in agreement with experimental evidence. In the second simulation a polyethylene target is ablated into a mixture of protons and carbon ions. A mechanism is demonstrated that allows protons to penetrate the magnetic field in the form of a collimated flow. The results are compared to experimental data and single-fluid MHD simulations. The EMAPS framework has the potential for wide application in many other engineering and scientific fields, such as climate models, biological systems, electronic devices, seismic events, oil reservation simulators that all involve advancing solutions of partial differential equations in time where the rate of activity can be adapted widely over the spatial domain depending on locally space/time phenomena (“events”).

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

DOE OSTI2018

Comparison of Distributive Consensus Algorithms for AnomalyDetection on the Power-Grid

As an increasing number of devices in the power-grid rely on high-precision clocks to measure electrical properties and time stamp data, GPS receivers have become a vulnerability on the power-grid. GPS spoofing attacks, in which a fake signal is transmitted, can cause sensor measurement errors that can misinform protective equipment and grid operators for both the transmission and distribution grid. The technology being developed to secure precision clocks in the transmission grid are not appropriate for the distribution grid. Thus, there is a need to developed anomaly detection algorithms that are suitable for the hardware available on the distribution grid. Traditionally, a distributed detection framework is comprised of spatially distributed nodes which acquire observations about a quantity of interest and sends the data to the fusion center, where a global decision is made. Instead the distribution grid has low-power devices, such as smart inverters and microPMUs, that could be used to perform highly parallelized calculations. Having on node calculations is beneficial since it is more network and computation efficient, as the more calculations can be performed where the data is being captured instead of communicating across a slow network to a centralized fusion center. Instead, we could employ an alternate peer-to-peer type of information exchange on the distribution grid that can still reach a global decision. A decentralized approach to anomaly detection makes efficient use of the computational and network bandwidth that exists, and it also lacks the single point of failure of a centralized approach. Thus, a decentralized local information exchange and/or inference is preferred. Lastly, the unreliability of the distribution grid network connections and potential noise or error in the measurements must be considered. In order to produce an effective detection tool, a Byzantine-fault tolerant and asynchronous algorithm must be developed. Thus, the first phase of our project is to develop a distributed, decentralized, asynchronous, Byzantine-fault tolerant, collaborative autonomy-based anomaly detection algorithm to collectively analyze clusters of data for signs of a malicious attack.

97 MATHEMATICS AND COMPUTING↗

DOE OSTI2020

Dynamic Modeling of Full Converter Adjustable-speed Pumped Storage Hydropower (FC AS-PSH)

Full converter adjustable-speed pumped storage hydropower (FC AS-PSH) technology, as one of advanced-PSH technology, is developed from wind turbine technology. By making the synchronous machine connect to the grid through a full-size converter, FC AS-PSH has a wider adjustment range of speed and a better reactive power control capability compared with a doubly-fed asynchronous generator AS-PSH technology. When it plays as an energy backup in the power system, FC AS-PSH can provide a much faster response than conventional-PSH (C-PSH) which makes this technology provide better ancillary service for a high renewable penetrated system. In this paper, the dynamic modeling of FC AS-PSH is fully studied. We develop a detailed model of this technology in the IEEE 14-bus system based on GE Positive Sequence Load Flow (PSLF) platform. Especially, the first governor model is developed based on the Engineer’s Program Control Language (EPCL) user-defined model in this platform. All operation modes are validated and studied under a system contingency. Besides, comparison cases between FC AS-PSH and C-PSH are studied to show advantages providing from FC AS-PSH when it works with renewable energy.

50 EE - Wind and Water Power Program - Water (EE-4↗

DOE OSTI2023

A Surrogate-Based Asynchronous Decomposition Technique for Realistic Security-Constrained Optimal Power Flow Problems

Here we present a decomposition approach for obtaining good feasible solutions for the security-constrained, alternating-current, optimal power flow (SC-AC-OPF) problem at an industrial scale and under real-world time and computational limits. The approach was designed while preparing and participating in ARPA-E’s Grid Optimization Competition (GOC) Challenge 1. The challenge focused on a near-real-time version of the SC-AC-OPF problem, where a base operating point is optimized, taking into account possible single-element contingencies, after which the system adapts its operating point following the response of automatic frequency droop controllers and voltage regulators. Our solution approach for this problem relies on state-of-the-art nonlinear programming algorithms, and it employs nonconvex relaxations for complementarity constraints, a specialized two-stage decomposition technique with sparse approximations of recourse terms and contingency ranking and prescreening. The paper describes and justifies our approach and outlines the features of its implementation, including functions and derivatives evaluation, warm-starting strategies, and asynchronous parallelism. We discuss the results of the independent benchmark of our approach by ARPA-E’s GOC team in Challenge 1, where it was found to consistently produce high-quality solutions across a wide range of network sizes and difficulty, and conclude by outlining future extensions of the approach.

97 MATHEMATICS AND COMPUTING↗

DOE OSTI2018

Self-organized Segregation on the Grid

We consider an agent-based model with exponentially distributed waiting times in which two types of agents interact locally over a graph, and based on this interaction and on the value of a common intolerance threshold τ, decide whether to change their types. This is equivalent to a zero-temperature ising model with Glauber dynamics, an asynchronous cellular automaton with extended Moore neighborhoods, or a Schelling model of self-organized segregation in an open system, and has applications in the analysis of social and biological networks, and spin glasses systems. Some rigorous results were recently obtained in the theoretical computer science literature, and this work provides several extensions. We enlarge the intolerance interval leading to the expected formation of large segregated regions of agents of a single type from the known size ϵ>0 to size ≈0.134. Namely, we show that for 0.433<τ<1/2 (and by symmetry 1/2<τ<0.567), the expected size of the largest segregated region containing an arbitrary agent is exponential in the size of the neighborhood. We further extend the interval leading to expected large segregated regions to size ≈0.312 considering “almost segregated” regions, namely regions where the ratio of the number of agents of one type and the number of agents of the other type vanishes quickly as the size of the neighborhood grows. In this case, we show that for 0.344<τ≤0.433 (and by symmetry for 0.567≤τ<0.656) the expected size of the largest almost segregated region containing an arbitrary agent is exponential in the size of the neighborhood. This behavior is reminiscent of supercritical percolation, where small clusters of empty sites can be observed within any sufficiently large region of the occupied percolation cluster. The exponential bounds that we provide also imply that complete segregation, where agents of a single type cover the whole grid, does not occur with high probability for p=1/2 and the range of intolerance considered.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

NASA NTRS1990

Space-time modeling using environmental constraints in a mobile robot system

Grid-based models of a robot's local environment have been used by many researchers building mobile robot control systems. The attraction of grid-based models is their clear parallel between the internal model and the external world. However, the discrete nature of such representations does not match well with the continuous nature of actions and usually serves to limit the abilities of the robot. This work describes a spatial modeling system that extracts information from a grid-based representation to form a symbolic representation of the robot's local environment. The approach makes a separation between the representation provided by the sensing system and the representation used by the action system. Separation allows asynchronous operation between sensing and action in a mobile robot, as well as the generation of a more continuous representation upon which to base actions.

Slack, Marc G.↗