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检索条件"主题词=decentralized algorithm"

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Real-time Trajectory Estimation in Mobile Ad Hoc Networks

Real-time Trajectory Estimation in Mobile Ad Hoc Networks

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12th ACM International Conference on Modeling, Analysis and Simulation of Wireless and Mobile Systems

作者： Fujii, Sae Nomura, Takashi Umedu, Takaaki Yamaguchi, Hirozumi Higashino, Teruo Osaka Univ Grad Sch Informat Sci & Technol Suita Osaka 5650871 Japan

ISBN: (纸本)9781605586168

In this paper, we propose a new trajectory estimation method named TRADE (TRAjectory estimation in decentralized way). TRADE is a range-free localization algorithm in fully decentralized mobile ad hoc networks. In TRADE, each mobile node periodically transmits messages containing its estimated trajectory information, and re-computes its own trajectory using those from its neighbors. This information exchange considerably contributes to improvement of the position accuracy. Furthermore, we give the optimal design of the protocol based on the analysis of the algorithm property. Through the analysis, we consider how much trajectory information should be exchanged among nodes to estimate the position within a certain error range in the protocol design. We have evaluated the position accuracy under various settings, and have shown the effectiveness of the protocol in the real world through two realistic application examples.

关键词： trajectory estimation mobile ad hoc network localization range-free decentralized algorithm

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Dynamic Resource Allocation with Machine Degradation using decentralized Multi-Agent Approach

Dynamic Resource Allocation with Machine Degradation using D...

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics

作者： Ling, S. H. Lau, S. C. Luo, M. Ge, S. S. Natl Univ Singapore Dept Elect & Comp Engn Singapore 117576 Singapore Singapore Inst Mfg Technol Singapore Singapore

ISBN: (纸本)9781424428526

This paper presents a decentralized Multi-Agent System (DMAS) for dynamic resource allocation. The DMAS consists of two parts: (i) Agents movement system, and (ii) Agent management system. The agent movement system is used to govern the movement of agents and manipulates the task scheduling and workload equalizing between machines. A hybrid Roam-Space movements in the DMAS are discussed. The agent management system is proposed to handle dynamic events and provide an environment for agents negotiation. In this paper, a new dynamic event, called Machine Degradation (MD) is given, and its behavior is introduced. Furthermore, simulation results for different types of the resource allocation problems are given to show the ability of the proposal approach.

关键词： decentralized algorithm dynamic resource allocation machine degradation multi-agent system

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Dynamic Graph for Biological Memory Modeling: A System-Level Validation 33rd

Dynamic Graph for Biological Memory Modeling: A System-Level...

引用

33rd International Conference on Artificial Neural Networks and Machine Learning (ICANN)

作者： Wei, Hui Feng, Chenyue Zhang, Jianning Fudan Univ Sch Comp Sci Lab Algorithms Cognit Models Shanghai Peoples R China

ISBN: (纸本)9783031723407;9783031723414

At the intersection of computation and cognitive science, graph theory is utilized as a formalized description of complex relationships and structures, but traditional graph models are static, lack the dynamic and autonomous behaviors of biological neural networks, rely on algorithms with a global view. This study introduces a novel dynamic directed graph model that simulates the brain's memory process by empowering each node with adaptive learning and decision-making capabilities. This decentralized approach transforms memory storage into the management of directed graph paths, with each node utilizing localized information for the dynamic formation and modification of these paths, different path refers to different memory instance. The model's unique memory algorithm avoids a global view, instead relying on neighborhood-based interactions to enhance resource utilization. Each node's adaptive learning behavior is represented through a microcircuit centered around a variable resistor. We validated the model's efficacy in storing and retrieving data through computer simulations. This approach offers a plausible biological explanation for memory realization and validates the memory trace theory at a system level.

关键词： Memory Modeling Directed Graph decentralized algorithm

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Design and Validation of a Centimeter-Scale Robot Collective

Design and Validation of a Centimeter-Scale Robot Collective

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IEEE International Conference on Systems, Man, and Cybernetics (SMC)

作者： Laird, Damien Raptis, Ioannis A. Price, Jack Univ Massachusetts Dept Mech Engn Lowell MA 01854 USA Univ Massachusetts Dept Elect & Comp Engn Lowell MA 01854 USA

ISBN: (纸本)9781479938407

Though many advances have been made in the field of multi-agent robotic swarms, most results are limited to computer simulations instead of actual implantation to a robotic system. A primary factor limiting the development, testing, and validation of decentralized algorithms for large-scale multi-robot teams is the high cost of the available systems. A low budget but highly flexible platform could create a foundation that would allow researchers to evaluate their control algorithms under real world constraints. This paper presents Spider-Bots, a low cost and versatile platform for testing and validating control algorithms for multi-robot swarms. The system is consisted of centimeter-scale mobile robots that can communicate wirelessly and interact with their environment, along with simple and easy to use software libraries. Once completed, the platform was validated by executing three distinct algorithms: Waypoint navigation, object manipulation, and collision avoidance.

关键词： collision avoidance control engineering computing multi-robot systems Spider-Bots platform centimeter-scale robot collective control algorithms decentralized algorithm large-scale multi-robot teams multi-agent robotic swarm object manipulation software libraries waypoint navigation Collision avoidance Educational institutions Robot kinematics Software algorithms Testing Vehicles

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decentralized EXPECTED CONSISTENT SIGNAL RECOVERY FOR QUANTIZATION MEASUREMENTS

DECENTRALIZED EXPECTED CONSISTENT SIGNAL RECOVERY FOR QUANTI...

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IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Wang, Chang-Jen Wei, Chao-Kai Tsai, Shang-Ho Jin, Shi Natl Chiao Tung Univ Inst Elect & Control Engn Hsinchu Taiwan Natl Sun Yat Sen Univ Inst Commun Engn Kaohsiung Taiwan Natl Chiao Tung Univ Dept Elect Engn Hsinchu Taiwan Southeast Univ Natl Mobile Commun Res Lab Nanjing Peoples R China

ISBN: (纸本)9781509066315

Signal recovery through coarse quantization of a linear transform output has many applications in engineering, such as channel estimation and signal detection in massive MIMO systems. A recently proposed scheme, known as generalized expectation consistent signal recovery (GEC-SR), can achieve Bayesian inference and exhibit better robustness than many existing methods. However, recovering signals with large transform matrices continue to present a computational burden for GEC-SR. In this study, we develop a novel decentralized architecture by leveraging the core framework of GEC-SR called "deGEC-SR." deGEC-SR offers excellent performance as GEC-SR and runs tens of times faster than GEC-SR. We derive the theoretical state evolution of deGEC-SR and demonstrate its accuracy using numerical results.

关键词： Quantization measurement expectation consistent Bayes-optimal inference decentralized algorithm

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Robust Transceiver Optimization for MISO SWIPT Interference Channel: A decentralized Approach 83

Robust Transceiver Optimization for MISO SWIPT Interference ...

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IEEE 83rd Vehicular Technology Conference (VTC Spring)

作者： Peng, Tao Wang, Feng Huang, Yongwei Wang, Xin Fudan Univ Dept Commun Sci & Engn Key Lab Informat Sci Electromagnet Waves MoE Shanghai 200433 Peoples R China Guangdong Univ Technol Sch Informat Engn Guangzhou 510006 Guangdong Peoples R China

ISBN: (纸本)9781509016983

In this paper, we develop the robust transceiver optimization for the multiple-input single-output (MISO) interference channels where each transmitter (Tx) is equipped with multiple antennas and each single-antenna receiver performs simultaneous wireless information and power transfer (SWIPT) based on a power-splitting architecture. Assuming imperfect channel state information (CSI) at the Txs, we design jointly optimal transmit beamforming and receive power-splitting scheme that minimizes the total transmission power under the worst-case signal-to-interference-plus-noise ratio (SINR) and energy harvesting (EH) constraints. When the channel uncertainties are bounded by ellipsoidal regions, we show that the worst-case SINR and EH constraints can be recast into quadratic matrix inequality forms, and the intended problem can be relaxed as a tractable semi-definite program. Furthermore, relying on the alternating direction method of multipliers (ADMM), we propose a decentralized algorithm capable of computing the optimal beamforming and power-splitting schemes with local CSI and limited information exchange among the Txs.

关键词： Interference channels energy harvesting power-splitting robust beamforming decentralized algorithm

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decentralized discrete-time consensus algorithms for multi-agent systems

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26th Chinese Control Conference

作者： Li Qin Jiang Zhongping Polytech Univ Dept Elect & Comp Engn 6 Metrotech Ctr Brooklyn NY 11201 USA

ISBN: (纸本)9787811240559

In this paper, inspired by Vicsek's model, two decentralized heading consensus algorithms, WHCA and LBHCA, are proposed. It is proved that, under sonie well-known connectivity assumption, the WHCA can ensure almost global consensus of the headings except the only situation where they are balanced at the beginning. For the LBHCA, the global heading consensus is guaranteed under,the same connectivity assumption. Simulation results are provided to justify the proposed algorithms.

关键词： consensus decentralized algorithm Vicsek's model

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Constructing Distributed Doubly Linked Lists without Distributed Locking

Constructing Distributed Doubly Linked Lists without Distrib...

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IEEE International Conference on Peer to Peer Computing (P2P)

作者： Abe, Kota Yoshida, Mikio Osaka City Univ Osaka Japan NICT Tokyo Japan BBR Inc Osaka Japan

ISBN: (纸本)9781509003006

A distributed doubly linked list (or bidirectional ring) is a fundamental distributed data structure commonly used in structured peer-to-peer networks. This paper presents DDLL, a novel decentralized algorithm for constructing distributed doubly linked lists. In the absence of failure, DDLL maintains consistency with regard to lookups of nodes, even while multiple nodes are simultaneously being inserted or deleted. Unlike existing algorithms, DDLL adopts a novel strategy based on conflict detection and sequence numbers. A formal description and correctness proofs are given. Simulation results show that DDLL outperforms conventional algorithms in terms of both time and number of messages.

关键词： data structures peer-to-peer computing DDLL decentralized algorithm distributed doubly linked list distributed locking fundamental distributed data structure peer-to-peer network algorithm design and analysis Cities and towns Data structures IP networks Peer-to-peer computing Protocols Structural rings Peer to peer computing Data structures Structural rings algorithm design and analysis Cities and towns Internet Protocol networks chain table Peer-to-peer network protocols Recombinant DNA Distribute

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Efficient decentralized Multirobot Task Allocation for Maximizing Total Assignments 22

Efficient Decentralized Multirobot Task Allocation for Maxim...

引用

22nd International Conference on Control, Automation and Systems (ICCAS)

作者： Wang, Shengli Liu, Youjiang Qiu, Yongtao Zhou, Jie Tsinghua Univ Dept Engn Phys Beijing 100084 Peoples R China China Acad Engn Phys Inst Elect Engn Mianyang 621900 Sichuan Peoples R China

ISBN: (纸本)9788993215243

This paper addresses the decentralized task allocation problem of multirobot systems, in which the objective is to maximize the total task assignments, i.e., the number of tasks that can be successfully executed by all robotic vehicles under the time constraints of tasks and battery limits of vehicles. Based on the state-of-the-art performance impact (PI) algorithm, a novel extension named PI for minimizing traveling time (PI-minTravel) is proposed in this paper. With the proposed PI-minTravel, tasks that are close enough to the last task of each vehicle are assigned to the vehicle first, so that the total traveling time of all vehicles can be minimized. Due to the limited fuel of each vehicle, less traveling time will leave more time to execute tasks, then more tasks can be executed, especially when the ratio of tasks to vehicles is high. Extensive simulation results show that the proposed PI-minTravel can assign more tasks and converge within fewer iterations compared with PI algorithm, while it can assign fewer tasks but converge within much fewer iterations compared with PI for maximizing assignments (PI-maxAss) algorithm.

关键词： multirobot system task allocation decentralized algorithm search and rescue

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Distributed Localization of a Non-cooperative RF Target in NLOS Environments 17

Distributed Localization of a Non-cooperative RF Target in N...

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17th International Conference on Information Fusion (FUSION)

作者： Xu, Wenjie Quitin, Francois Leng, Mei Tay, Wee Peng Razul, Sirajudeen G. Nanyang Technol Univ Sch Elect & Elect Engn Singapore 639798 Singapore Nanyang Technol Univ Temasek Labs NTU Singapore 639798 Singapore

ISBN: (纸本)9781479916344

We propose a novel distributed generalized expectation maximization (EM) method for non-cooperative target localization using a wireless sensor network. We consider the scenario where few or no sensors receive line-of-sight signals from the target. Each sensor is able to measure the time difference of arrival of the target's signal with respect to a reference node, as well as the angle of arrival of the target's signal. We show that our distributed algorithm converges, and simulation results suggest that our method achieves an accuracy close to the centralized EM algorithm. We apply the distributed EM algorithm to a set of experimental measurements, which confirm that the algorithm is able to localize a RF target in a realistic non-line-of-sight scenario.

关键词： Target localization Expectation maximization decentralized algorithm Wireless sensor network

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