6期

最新文章

• Distributed Composite Optimization With Distributed Composite Block Mirror Descent AI翻译
  作者：Yu, Zhan; Ho, Daniel W. C.; Yuan, Deming; Shi, Zhongjie
  作者单位：Hong Kong Baptist University; City University of Hong Kong; Nanjing University of Science & Technology; Georgia Institute of Technology; University System of Georgia; Georgia Institute of Technology
  摘要：This article investigates a class of large-scale distributed nonsmooth composite optimization problems over timevarying multiagent networks. Specifically, the decision space, which can be split into several blocks of convex set, is considered. Each node, endowed with a private nonsmooth cost function and a regularization function, aims to minimize the sum of all local functions across the network. We propose a novel distributed composite block mirror descent (DCBMD) method, where each node per...
• Coverage Control for Mobile Sensor Networks With Nonidentical Interaction Ranges and Position Measurement Errors AI翻译
  作者：He, Yongqin; Song, Cheng; Liu, Lu; Feng, Gang
  作者单位：Nanjing University of Science & Technology; City University of Hong Kong
  摘要：Coverage control for a mobile sensor network with limited interaction ranges and position measurement errors is addressed in this article. Different from the existing works, the sensors' interaction ranges are allowed to be nonidentical, which is more general and often results in a directed time-varying interaction topology of the sensor network. A distributed switching coverage control law is proposed, under which the network connectivity of the sensors does not need to be maintained. Then, t...
• Hessian-Free Distributed Bilevel Optimization via Penalization With Time-Scale Separation AI翻译
  作者：Niu, Youcheng; Xu, Jinming; Sun, Ying; Chai, Li; Chen, Jiming
  作者单位：Zhejiang University; Pennsylvania State University; Pennsylvania State University - University Park; Pennsylvania Commonwealth System of Higher Education (PCSHE); Pennsylvania State University
  摘要：This article considers a class of distributed bilevel optimization (DBO) problems with a coupled inner-level subproblem. Existing approaches typically rely on hypergradient estimations involving computationally expensive Hessian evaluation. To address this, we approximate the DBO problem as a minimax problem by properly designing a penalty term that enforces both the constraint imposed by the inner-level subproblem and the consensus among the decision variables of agents. Moreover, we propose ...
• Guaranteed Reachability on Riemannian Manifolds for Unknown Nonlinear Systems AI翻译
  作者：Shafa, Taha; Ornik, Melkior
  作者单位：University of Illinois System; University of Illinois Urbana-Champaign; University of Illinois System; University of Illinois Urbana-Champaign
  摘要：Determining the reachable set for a given nonlinear system is critically important for autonomous trajectory planning for reach-avoid applications and safety critical scenarios. Providing the reachable set is generally impossible when the dynamics are unknown, so we calculate underapproximations of such sets using local dynamics at a single point and bounds on the rate of change of the dynamics determined from known physical laws. Motivated by scenarios where an adverse event causes an abrupt ...
• Convergence of Online Identification for Mixed Linear Regression With Two Components AI翻译
  作者：Liu, Yujing; Liu, Zhixin; Guo, Lei
  作者单位：Chinese Academy of Sciences; Academy of Mathematics & System Sciences, CAS; Chinese Academy of Sciences; University of Chinese Academy of Sciences, CAS
  摘要：This article investigates the online identification and data clustering problems for mixed linear regression (MLR) model with two components, including the symmetric MLR, and the asymmetric MLR with the balanced mixture. Two corresponding new online identification algorithms are introduced based on the expectation-maximization and least-squares principles. It is shown that both algorithms will converge to the true parameter set for any nonzero initial value without resorting to the traditional...
• Sliding-Mode Boundary Control of an Uncertain Parabolic PDE-ODE Cascade With Dynamic Actuation and Unmatched Disturbance AI翻译
  作者：Orlov, Yury; Pilloni, Alessandro; Pisano, Alessandro; Usai, Elio
  作者单位：CICESE - Centro de Investigacion Cientifica y de Educacion Superior de Ensenada; University of Cagliari
  摘要：Dynamic boundary control design is addressed for an uncertain heat process in order to regulate its state to a constant set-point value while also rejecting a smooth unmatched boundary disturbance. The diffusivity parameter is unknown a priori, and a control signal is applied to the plant at its boundary through a first-order dynamic actuation with uncertain time constant, thereby yielding a coupled PDE/ODE representation of the overall system dynamics. The proposed output feedback design is s...
• Relations Between Exponential Dichotomy of Continuous Time-Varying Linear Systems and Bohl Exponents AI翻译
  作者：Czornik, Adam
  作者单位：Silesian University of Technology
  摘要：In this note, we present a new necessary and sufficient condition for having a dichotomy by a continuous linear system with time-varying coefficients. This condition is expressed by Bohl exponents. Based on this condition, we give a formula expressing the spectrum of exponential dichotomy in terms of Bohl exponents. The obtained results are illustrated with a numerical example.
• Myopically Verifiable Probabilistic Certificates for Safe Control and Learning AI翻译
  作者：Wang, Zhuoyuan; Jing, Haoming; Kurniawan, Christian; Chern, Albert; Nakahira, Yorie
  作者单位：Carnegie Mellon University; Singapore University of Technology & Design; University of California System; University of California San Diego
  摘要：This article addresses the design of safety certificates for stochastic systems, with a focus on ensuring long-term safety through fast real-time control. In stochastic environments, set invariance-based methods that restrict the probability of risk events in infinitesimal time intervals may exhibit significant long-term risks due to cumulative uncertainties/risks. On the other hand, reachability-based approaches that account for the long-term future may require prohibitive computation in real...
• Coriolis Factorizations and Their Connections to Riemannian Geometry AI翻译
  作者：Wensing, Patrick M.; Slotine, Jean-Jacques E.
  作者单位：University of Notre Dame; Massachusetts Institute of Technology (MIT); Massachusetts Institute of Technology (MIT)
  摘要：Many energy-based control strategies for mechanical systems require the choice of a Coriolis factorization satisfying a skew-symmetry property. This article (a) explores if and when a control designer has flexibility in this choice, (b) develops a canonical choice related to the Christoffel symbols, and (c) describes how to efficiently perform control computations with it for constrained mechanical systems. We link the choice of a Coriolis factorization to the notion of an affine connection on...
• Bandwidth-Constrained Sensor Scheduling: A Tradeoff Between Fairness and Efficiency AI翻译
  作者：Zhong, Yuxing; Wu, Yuchi; Quevedo, Daniel E.; Shi, Ling
  作者单位：Hong Kong University of Science & Technology; Shanghai University; University of Sydney; Hong Kong University of Science & Technology
  摘要：We address fair sensor scheduling over bandwidth-constrained communication channels. While existing literature on fair scheduling overlooks overall system efficiency, we introduce a novel $q$-fairness framework to balance efficiency and fairness by adjusting the parameter $q$. Specifically, for two communication scenarios, we, first, derive the optimal schedule under limited communication rates, and second, propose two suboptimal algorithms under limited simultaneous sensor transmissions and a...