9期

最新文章

• Asynchronous Stochastic Approximations With Asymptotically Biased Errors and Deep Multiagent Learning AI翻译
  作者：Ramaswamy, Arunselvan; Bhatnagar, Shalabh; Quevedo, Daniel E.
  作者单位：University of Paderborn; University of Paderborn; Indian Institute of Science (IISC) - Bangalore; Bosch; Indian Institute of Science (IISC) - Bangalore; Queensland University of Technology (QUT)
  摘要：Asynchronous stochastic approximations (SAs) are an important class of model-free algorithms, tools, and techniques that are popular in multiagent and distributed control scenarios. To counter Bellman's curse of dimensionality, such algorithms are coupled with function approximations. Although the learning/control problem becomes more tractable, function approximations affect stability and convergence. In this article, we present verifiable sufficient conditions for stability and convergence o...
• Pareto Optimal Multirobot Motion Planning AI翻译
  作者：Zhao, Guoxiang; Zhu, Minghui
  作者单位：Pennsylvania Commonwealth System of Higher Education (PCSHE); Pennsylvania State University; Pennsylvania State University - University Park
  摘要：This article studies a class of multirobot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to identify the Pareto optimal solutions where no robot can unilaterally reduce its traveling time without extending others'. The consistent approximation of the algorithm in the epigraphical profile sense is guaranteed using set-valued numerical analysis. Experimen...
• Randomized Block Proximal Methods for Distributed Stochastic Big-Data Optimization AI翻译
  作者：Farina, Francesco; Notarstefano, Giuseppe
  作者单位：GlaxoSmithKline; Glaxosmithkline United Kingdom; University of Bologna
  摘要：In this article, we introduce a class of novel distributed algorithms for solving stochastic big-data convex optimization problems over directed graphs. In the addressed set-up, the dimension of the decision variable can be extremely high and the objective function can be nonsmooth. The general algorithm consists of two main steps: a consensus step and an update on a single block of the optimization variable, which is then broadcast to neighbors. Three special instances of the proposed method,...
• Resilient Actuator Fault Estimation for Discrete-Time Complex Networks: A Distributed Approach AI翻译
  作者：Liu, Yang; Wang, Zidong; Zhou, Donghua
  作者单位：Shandong University of Science & Technology; Brunel University; Tsinghua University
  摘要：This article is concerned with the resilient fault diagnosis (FD) problem for a class of complex networks subject to possible loss of the actuator effectiveness and random variation of the filter gain. An unknown diagonal matrix is employed to characterize the multiplicative loss of actuator effectiveness for each node. The proposed filter utilizes the information from only the local node and the neighboring nodes. Since there is no need to have a center node receiving global information from ...
• Delay Consensus Margin of First-Order Multiagent Systems With Undirected Graphs and PD Protocols AI翻译
  作者：Ma, Dan; Chen, Jianqi; Lu, Renquan; Chen, Jie; Chai, Tianyou
  作者单位：Northeastern University - China; Northeastern University - China; City University of Hong Kong; Guangdong University of Technology; Guangdong University of Technology
  摘要：In this article, we study robust consensus problems for continuous-time first-order multiagent systems (MASs) with time delays. We assume that the agents input is subject to an uncertain constant delay, which may arise due to interagent communication or additionally, also by self-delay in the agent dynamics. We consider dynamic feedback control protocol in the form of proportional and derivative (PD) control, and seek to determine the delay consensus margin (DCM) achievable by PD feedback prot...
• Distributed Average Tracking in Weight-Unbalanced Directed Networks AI翻译
  作者：Sun, Shan; Chen, Fei; Ren, Wei
  作者单位：University of California System; University of California Riverside; Northeastern University - China; Northeastern University - China
  摘要：This article studies a distributed average tracking (DAT) problem, in which a collection of agents work collaboratively, subject to local communication, to track the average of a set of reference signals, each of which is available to a single agent. Our primary objective is to seek a design methodology for DAT under possibly weight-unbalanced directed networks-the most general and thus most challenging case from the network topology perspective, which has few results in the literature. For th...
• Adaptive Consensus Control for Nonlinear Multiagent Systems With Unknown Control Directions and Time-Varying Actuator Faults AI翻译
  作者：Wang, Chenliang; Wen, Changyun; Guo, Lei
  作者单位：Beihang University; Beihang University; Nanyang Technological University
  摘要：In this article, an adaptive consensus tracking control scheme is proposed for a class of high-order nonlinear multiagent systems with unknown control directions. Different from the existing results, the unknown control directions are not required to be identical and also unknown time-varying actuator faults are taken into account simultaneously. We design some novel Nussbaum functions and construct a monotonously increasing sequence in which the effects of our multiple Nussbaum functions rein...
• A Posteriori Probabilistic Bounds of Convex Scenario Programs With Validation Tests AI翻译
  作者：Shang, Chao; You, Fengqi
  作者单位：Tsinghua University; Cornell University
  摘要：Scenario programs have established themselves as efficient tools toward decision-making under uncertainty. To assess the quality of scenario-based solutions a posteriori, validation tests based on Bernoulli trials have been widely adopted in practice. However, to reach a theoretically reliable judgment of risk, one typically needs to collect massive validation samples. In this article, we propose new a posteriori bounds for convex scenario programs with validation tests, which are dependent on...
• Network-Aware Controller Design With Performance Guarantees for Linear Wireless Systems AI翻译
  作者：de Oliveira, Andre Marcorin; Varma, Vineeth Satheeskumar; Postoyan, Romain; Morarescu, Irinel-Constantin; Daafouz, Jamal; Costa, Oswaldo Luiz, V
  作者单位：Universidade Federal de Sao Paulo (UNIFESP); Centre National de la Recherche Scientifique (CNRS); Universite de Lorraine; Universidade de Sao Paulo
  摘要：We investigate discrete-time closed-loop dynamics consisting of a linear plant, a linear controller, and a wireless network that connects the sensors and the actuators to the control unit. The objective, as well as the main contribution of this article, is the static output feedback control synthesis under given network specifications. Precisely, network features are formulated in terms of stochastic allowable transmission interval (SATI), which is a concept well suited for the time-triggered ...
• Distributed Resource Allocation Over Dynamic Networks With Uncertainty AI翻译
  作者：Doan, Thinh T.; Beck, Carolyn L.
  作者单位：Virginia Polytechnic Institute & State University; University of Illinois System; University of Illinois Urbana-Champaign
  摘要：Motivated by broad applications in various fields of engineering, we study a network resource allocation problem where the goal is to optimally allocate a fixed quantity of the resources over a network of nodes. We consider large scale networks with complex interconnection structures, thus any solution must be implemented in parallel and based only on local data resulting in a need for distributed algorithms. In this article, we study a distributed Lagrangian method for such problems. By utili...