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Recent embedded middleware initiatives enable the structuring of an application as a set of collaborating agents deployed in the various sensing/actuating entities of the system. Of particular importance is the incurred cost due to agent communication which in terms depends on agent positions in the system. In this paper we present GRAL a grouping algorithm that migrates groups of agents with the aim of minimizing communication. The algorithm works in a distributed fashion based on knowledge available locally at each node and can be used both for one-shot initial application deployment and for the continuous updating of agent placement. Through simulation experiments under various scenarios we evaluate the algorithm, comparing the solution quality reached against the optimal obtained from exhaustive search.
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