Programming Distributed Collective Processes for Dynamic Ensembles and Collective Tasks

Programming Distributed Collective Processes for
Dynamic Ensembles and Collective Tasks
Giorgio Audrito1
, Roberto Casadei2
, Ferruccio Damiani1
,
Gianluca Torta1
, Mirko Viroli2
1
Università degli Studi di Torino
2
ALMA MATER STUDIORUM – Università of Bologna
June 21st, 2023
COORDINATION’23, Lisbon, Portugal
https://www.slideshare.net/RobertoCasadei
R. Casadei Motivation Background Contribution Wrap-up References 1/18

Outline
1 Motivation
2 Background
3 Contribution
4 Wrap-up

Motivation: macro-programming [2] collective systems
Target systems: distributed networks of devices (cf. IoT, swarms, edge-fog-cloud)
Target computations: collective computations (progressive, cooperative) [1]
Approach: macro-programming (a single program for the whole behaviour)
[1] R. Casadei, M. Viroli, G. Audrito, D. Pianini, and F. Damiani, “Engineering collective intelligence at the edge with
aggregate processes,” Engineering Applications of Artificial Intelligence, 2021
[2] R. Casadei, “Macroprogramming: Concepts, state of the art, and opportunities of macroscopic behaviour
modelling,” ACM Computing Surveys, Jan. 2023

Macroprogramming collective systems – e.g.: swarms

move in flocking formation

move in flocking formation ...while also, dynamically...

detect or estimate something

elect leader

elect leader
organise teams for missions departing from the flock

Background: the eXchange Calculus (XC) [3]
System model (modellable as an event structure)
network of devices working at asynchronous rounds and interacting with neighbours
each round: sense – compute – (inter-)act
the program maps local data to outputs and data to be shared with neighbours
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Devices
Time
[3] G. Audrito, R. Casadei, F. Damiani, G. Salvaneschi, and M. Viroli, “Functional programming for distributed systems
with XC,” in ECOOP 2022, ser. LIPIcs, Schloss Dagstuhl, 2022

Background: the eXchange Calculus (XC) [3]
eXchange Calculus (XC): the language
A functional language (λ-calculus) + 3 key elements:
1. neighbouring values (nvalues): default + (optional) neighbour-specific data
2. a single construct for communication: exchange
3. alignment: interaction is scoped by individual behavioural modules, enabling
compositionality
[3] G. Audrito, R. Casadei, F. Damiani, G. Salvaneschi, and M. Viroli, “Functional programming for distributed systems
with XC,” in ECOOP 2022, ser. LIPIcs, Schloss Dagstuhl, 2022

XC: neighbouring values (NValues)
Neighbouring values: what
collection of sent/received messages
handle neighbours collectively, not individually
ℓ[δ1 7→ ℓ1, . . .]
default msg
ℓ1 custom msg to/from δ1
Combining and summarising NValues: examples
Pointwise map
2[δ1 7→ 3, δ2 7→ 1] + 20[δ1 7→ 10] = 22[δ1 7→ 13, δ2 7→ 21]
Fold (in δ1) over neighbours (δ2, δ3)
nfold(max, 22[δ1 7→ 13, δ2 7→ 21], 0) = max(0, 21, 22) = 22

XC: sharing via exchange (1/2)
exchange: a single primitive for state management and bidirectional communication
exchange(ei, (n) = return er send es)
exchange
exchange
exchange
exchange
n
ei
. . . program. . .
er
es

XC: sharing via exchange (2/2)
Example: distanceTo (a.k.a. gradient)
1 def distanceTo(src) { // has type scheme: (bool) → num
2 exchange(∞, (n) = retsend mux(src, 0, distanceEstimate(n)) )
3 }
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0
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1

XC: composition and alignment
a program evaluation yields a sort of tree of exchanges
different exchanges −→ separate messages
alignment means that data is exchanged only between corresponding nodes in the tree
i.e. match by: • position in program • stack trace −→ enables composition
XC program tree
distanceInServiceProvisioning distanceTo
distanceTo
if/else
distanceEstimate
exchange
nfold
distanceEstimate
exchange
nfold
δ1
δ2
δ3
devices
time
partial alignment of expressions

XC: example
⊥
⊥
⊥
⊥

⊥

channel
=
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distanceTo
distanceTo
⊥
⊥
⊥ ⊥
⊥
⊥
⊥
⊥

src
⊥
⊥
⊥ ⊥
⊥
⊥

⊥
⊥
dest

Proposed abstraction: distributed collective process
What do we mean for a (distributed collective) process?

• generative
a process is an activity that can be spawned locally in a given round (generative)

• generative • dynamic domain
a process is an activity that may spread to neighbours, expanding its range (dynamic
domain)

• generative • dynamic domain • concurrent
processes may overlap (concurrency)

• generative • dynamic domain • concurrent • collective activity
any process defines both how the domain evolves and the collective activity carried out
within that evolving domain
e.g., in a smart city:
red: resource
recruitment process
green: monitoring
process
blue: access control
process

• generative • controllable, dynamic domain • concurrent • collective activity
device may quit processes, making them shrink and finally terminate (transience), while
other processes may go on indefinitely (long-running)

Distributed Collective Processes (DCP): elements
We distinguish a DCP type P from its running instances Pi

Elements of a process instance
Process ID (PID): identifies the instance, and also holds init data
Domain: the set of devices running it
Local result: a pair (local output, status)
∠ status: an NValue mapping neighbours to a Boolean (to control process expansion!)
true: the neighbour will receive the process
false: the neighbour won’t be involved in the process

Elements of a process instance
Process ID (PID): identifies the instance, and also holds init data
Domain: the set of devices running it
Local result: a pair (local output, status)
∠ status: an NValue mapping neighbours to a Boolean (to control process expansion!)
true: the neighbour will receive the process
false: the neighbour won’t be involved in the process
Defining process types
Generator expression GP : returns a (possibly empty) set of PIDs
Process logic P: the (complex) expression producing the output-state pair

Distributed Collective Processes (DCP): spawning
Spawning processes
spawnXC (P, GP )
where
spawnXC is a new XC primitive responsible of managing execution of a sets of processes
of the same type ( big-step opsem in the paper)
P is a function expressing the process logic
GP is the generation set of PIDs

Distributed Collective Processes (DCP): spawning
Spawning processes
spawnXC (P, GP )
where
spawnXC is a new XC primitive responsible of managing execution of a sets of processes
of the same type ( big-step opsem in the paper)
P is a function expressing the process logic
GP is the generation set of PIDs
Example: resource look-up via limited multi-gradient
Goal: get IDs of devices (in the surrounding) offering a set
of desired resources
GP : for each resource request, yield a PID of form
(sourceId, reqId, maxDist, {R1 : qty1, ..., Rn : qtyn})
P.status =
(
distanceTo(sourceId) ≤ maxDist ∨ ¬(isSource ∧ done)
⊥ otherwise
P.logic: collect map of pairs (devId, {Ri}) into source

Proof-of-Concept Implementation
FCPP implementation [4]
1 template ....
2 std::unordered_mapK, R
3 spawn(node_t node, trace_t call_point,
4 G process, S key_set, Ts const... xs)
time
aproc
tvar = 10, dens = 10, hops = 20, speed = 0
0 5 10 15 20 25 30 35 40 45 50
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
spherical (xc)
∠ multiple wave-like propagations
∠ aproc: average number of active process instances
Scala implementation [5]
1 def spawn[K,A,R](process: K = A = (R,Boolean),
2 newKeys: Set[K],
3 args: A): Map[K,R]
[4] G. Audrito, “FCPP: an efficient and extensible field calculus framework,” in International Conference on Autonomic
Computing and Self-Organizing Systems (ACSOS), IEEE, 2020
[5] R. Casadei, M. Viroli, G. Aguzzi, and D. Pianini, “Scafi: A scala DSL and toolkit for aggregate programming,”
SoftwareX, 2022

Conclusion
A distributed collective process abstraction, formalised in the eXchange Calculus (XC)

Conclusion
Generalisation over earlier work
∠ implementation in field calculus
R. Casadei, M. Viroli, G. Audrito, D. Pianini, and F. Damiani, “Aggregate processes in field
calculus,” in COORDINATION 2019, ser. LNCS, Springer, 2019
∠ an investigation of different domain evolution techniques
G. Audrito, R. Casadei, and G. Torta, “On the dynamic evolution of distributed
computational aggregates,” in ACSOS-C 2022, IEEE, 2022

Conclusion
Generalisation over earlier work
∠ implementation in field calculus
R. Casadei, M. Viroli, G. Audrito, D. Pianini, and F. Damiani, “Aggregate processes in field
calculus,” in COORDINATION 2019, ser. LNCS, Springer, 2019
∠ an investigation of different domain evolution techniques
G. Audrito, R. Casadei, and G. Torta, “On the dynamic evolution of distributed
computational aggregates,” in ACSOS-C 2022, IEEE, 2022
Support for programming collective adaptive / self-organising behaviour
∠ space-based coordination – e.g. situated tuples
R. Casadei, M. Viroli, A. Ricci, and G. Audrito, “Tuple-based coordination in large-scale
situated systems,” in COORDINATION 2021, ser. LNCS, Springer, 2021
∠ self-organising structures – e.g. SCR (Self-organising Coordination Regions) pattern
R. Casadei, D. Pianini, M. Viroli, and A. Natali, “Self-organising coordination regions: A
pattern for edge computing,” in COORDINATION 2019, ser. LNCS, Springer, 2019
∠ definition of dynamic ensembles
∠ epidemic processes others (future work)

Thanks!
time
aproc
tvar = 10, dens = 10, hops = 20, speed = 0
0 5 10 15 20 25 30 35 40 45 50
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
spherical (xc)
⊥
⊥
⊥
⊥

⊥

channel
=
3
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+
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distanceTo
distanceTo
⊥
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⊥
⊥
⊥
⊥

src
⊥
⊥
⊥ ⊥
⊥
⊥

⊥
⊥
dest
ℓ[δ1 7→ ℓ1, . . .]
default msg
ℓ1 custom msg to/from δ1
1 def spawn[K,A,R](process: K = A = (R,Boolean),
2 newKeys: Set[K],
3 args: A): Map[K,R]

References (1/2)
[1] R. Casadei, M. Viroli, G. Audrito, D. Pianini, and F. Damiani, “Engineering collective intelligence at the
edge with aggregate processes,” Engineering Applications of Artificial Intelligence, vol. 97,
p. 104 081, 2021.
[2] R. Casadei, “Macroprogramming: Concepts, state of the art, and opportunities of macroscopic
behaviour modelling,” ACM Computing Surveys, Jan. 2023. DOI: 10.1145/3579353. [Online].
Available: https://doi.org/10.1145/3579353.
[3] G. Audrito, R. Casadei, F. Damiani, G. Salvaneschi, and M. Viroli, “Functional programming for
distributed systems with XC,” in ECOOP 2022, ser. LIPIcs, vol. 222, Schloss Dagstuhl, 2022,
20:1–20:28. DOI: 10.4230/LIPIcs.ECOOP.2022.20.
[4] G. Audrito, “FCPP: an efficient and extensible field calculus framework,” in International Conference
on Autonomic Computing and Self-Organizing Systems (ACSOS), IEEE, 2020, pp. 153–159. DOI:
10.1109/ACSOS49614.2020.00037.
[5] R. Casadei, M. Viroli, G. Aguzzi, and D. Pianini, “Scafi: A scala DSL and toolkit for aggregate
programming,” SoftwareX, vol. 20, p. 101 248, 2022. DOI: 10.1016/j.softx.2022.101248.
[Online]. Available: https://doi.org/10.1016/j.softx.2022.101248.
[6] R. Casadei, M. Viroli, G. Audrito, D. Pianini, and F. Damiani, “Aggregate processes in field calculus,”
in COORDINATION 2019, ser. LNCS, vol. 11533, Springer, 2019, pp. 200–217. DOI:
10.1007/978-3-030-22397-7_12. [Online]. Available:
https://doi.org/10.1007/978-3-030-22397-7_12.

References (2/2)
[7] G. Audrito, R. Casadei, and G. Torta, “On the dynamic evolution of distributed computational
aggregates,” in ACSOS-C 2022, IEEE, 2022, pp. 37–42. DOI:
10.1109/ACSOSC56246.2022.00024.
[8] R. Casadei, M. Viroli, A. Ricci, and G. Audrito, “Tuple-based coordination in large-scale situated
systems,” in COORDINATION 2021, ser. LNCS, vol. 12717, Springer, 2021, pp. 149–167. DOI:
10.1007/978-3-030-78142-2_10.
[9] R. Casadei, D. Pianini, M. Viroli, and A. Natali, “Self-organising coordination regions: A pattern for
edge computing,” in COORDINATION 2019, ser. LNCS, vol. 11533, Springer, 2019, pp. 182–199.
DOI: 10.1007/978-3-030-22397-7_11.

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