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4th International Conference on Robotics, Automation, and Artificial Intelligence, RAAI 2024

作者： Behret, Valentino Kushtanova, Regina Palme, Frank Munich University of Applied Sciences Laboratory for 3D Measuring Systems and Computer Vision Department of Mechanical Automotive and Aeronautical Engineering Munich Germany

ISBN: (纸本)9798331520038

This study provides insights into SLAM performance on embedded systems and introduces an unsupervised parameter tuning approach for enhanced localisation accuracy. Our paper benchmarks a ROS 2-based indirect Simultaneous Localisation and Mapping (SLAM) system across six NVIDIA Jetson devices: Orin Nano 4 GB, Orin Nano 8 GB, Orin NX 8 GB, Orin NX 16 GB, AGX Orin 32 GB Auvidea, and AGX Orin 32 GB Devkit, using sequences from the KITTI dataset. The edge devices differ significantly in GPU computing power, number of CPU cores, CPU clock frequency as well as memory. SLAM evaluations are conducted within Docker containers to ensure consistency, with feature detection parameters optimised using an unsupervised tuning approach for each device. In addition to localisation accuracy, hardware utilisation is analysed, revealing that less than a half of CPU capabilities and approximately 5- 10 % of GPU power are utilised. The results indicate that in the default configuration devices with lower computing power demonstrate higher fluctuation in SLAM localisation accuracy. However, optimising feature parameters improves accuracy stability, especially for less powerful edge devices, indicating that even lower-powered but more energy-saving devices can achieve similar performance when an optimised balance between feature quantity and runtime constraints is achieved. © 2024 IEEE.

关键词： Graphics processing unit

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Benchmarking a ROS 2-Based Indirect SLAM on Edge Devices

Benchmarking a ROS 2-Based Indirect SLAM on Edge Devices

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Robotics, Automation and Artificial Intelligence (RAAI), IEEE International Conference on

作者： Valentino Behret Regina Kushtanova Frank Palme Department of Mechanical Automotive and Aeronautical Engineering Laboratory for 3D Measuring Systems and Computer Vision Munich University of Applied Sciences Munich Germany

ISBN: (数字)9798331520038

ISBN: (纸本)9798331520045

This study provides insights into SLAM performance on embedded systems and introduces an unsupervised parameter tuning approach for enhanced localisation accuracy. Our paper benchmarks a ROS 2-based indirect Simultaneous Localisation and Mapping (SLAM) system across six NVIDIA Jetson devices: Orin Nano 4 GB, Orin Nano 8 GB, Orin NX 8 GB, Orin NX 16 GB, AGX Orin 32 GB Auvidea, and AGX Orin 32 GB Devkit, using sequences from the KITTI dataset. The edge devices differ significantly in GPU computing power, number of CPU cores, CPU clock frequency as well as memory. SLAM evaluations are conducted within Docker containers to ensure consistency, with feature detection parameters optimised using an unsupervised tuning approach for each device. In addition to localisation accuracy, hardware utilisation is analysed, revealing that less than a half of CPU capabilities and approximately 5– 10 % of GPU power are utilised. The results indicate that in the default configuration devices with lower computing power demonstrate higher fluctuation in SLAM localisation accuracy. However, optimising feature parameters improves accuracy stability, especially for less powerful edge devices, indicating that even lower-powered but more energy-saving devices can achieve similar performance when an optimised balance between feature quantity and runtime constraints is achieved.

关键词： Performance evaluation Accuracy Simultaneous localization and mapping Runtime Benchmark testing Nanoscale devices Reproducibility of results Standards Tuning Optimization

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Multi Criteria Decision Making Technique for Evaluation and Selection performance Large Scale Data of Composite Materials

Multi Criteria Decision Making Technique for Evaluation and ...

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2022 ASU International Conference in Emerging Technologies for Sustainability and Intelligent systems, ICETSIS 2022

作者： Jassim Al-Shamary, Aidel Kadum Yas, Qahtan M. Badr, Aymen Mudheher Shalabi, Riyad Al Aldulaimi, Saeed Hameed Uninversity of Diyala Department of Mechanical Engineering Baqubah Iraq University of Diyala Department of Computer Science Baqubah Iraq Digital Research Center of Sfax Laboratory of Signals SysteMs ARtificial Intelligence and Networks Sfax University Sfax Tunisia Bahrain

ISBN: (数字)9781665469197

ISBN: (纸本)9781665469197

the composite material is considered basic material in various fields nowadays. Many companies have produced different types of this product according to specific criteria. This paper aims to present a new methodology for evaluation and selection based on multi criteria decision making (MCDM) techniques. A novelty claims by using an evaluation matrix (EM) to evaluate sandwich composite materials performance. The main issue of the evaluation of sandwich composite materials is performed by finding suitable criteria for performance metrics and the trade-off among the different types of composite materials. The methodology implemented in two steps;1) Creation decision matrix by calculating the data based on the five alternatives, 2) MCDM approach adapted by integrating between AHP and TOPSIS techniques. The finding outcome of the comparison of external with internal aggregation values to select the ideal sandwich composite materials was 5mm/5mm/5mm sample at 10J of threshold which is most recommended, whereas the 15mm sample at 25J of threshold obtained the lowest value, and it is the worst case. © 2022 IEEE.

关键词： Decision making

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NTIRE 2023 Image Shadow Removal Challenge Report

NTIRE 2023 Image Shadow Removal Challenge Report

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2023 IEEE/CVF Conference on computer vision and Pattern Recognition Workshops, CVPRW 2023

作者： Vasluianu, Florin-Alexandru Seizinger, Tim Timofte, Radu Cui, Shuhao Huang, Junshi Tian, Shuman Fan, Mingyuan Zhang, Jiaqi Zhu, Li Wei, Xiaoming Wei, Xiaolin Luo, Ziwei Gustafsson, Fredrik K. Zhao, Zheng Sjölund, Jens Schön, Thomas B. Dong, Xiaoyi Zhang, Xi Sheryl Li, Chenghua Leng, Cong Yeo, Woon-Ha Oh, Wang-Taek Lee, Yeo-Reum Ryu, Han-Cheol Luo, Jinting Jiang, Chengzhi Han, Mingyan Wu, Qi Lin, Wenjie Yu, Lei Li, Xinpeng Jiang, Ting Fan, Haoqiang Liu, Shuaicheng Xu, Shuning Song, Binbin Chen, Xiangyu Zhang, Shile Zhou, Jiantao Zhang, Zhao Zhao, Suiyi Zheng, Huan Gao, Yangcheng Wei, Yanyan Wang, Bo Ren, Jiahuan Luo, Yan Kondo, Yuki Miyata, Riku Yasue, Fuma Naruki, Taito Ukita, Norimichi Chang, Hua-En Yang, Hao-Hsiang Chen, Yi-Chung Chiang, Yuan-Chun Huang, Zhi-Kai Chen, Wei-Ting Chen, I-Hsiang Hsieh, Chia-Hsuan Kuo, Sy-Yen Xianwei, Li Fu, Huiyuan Liu, Chunlin Ma, Huadong Fu, Binglan He, Huiming Wang, Mengjia She, Wenxuan Liu, Yu Nathan, Sabari Kansal, Priya Zhang, Zhongjian Yang, Huabin Wang, Yan Zhang, Yanru Phutke, Shruti S. Kulkarni, Ashutosh Khan, Md Raqib Murala, Subrahmanyam Vipparthi, Santosh Kumar Ye, Heng Liu, Zixi Yang, Xingyi Liu, Songhua Wu, Yinwei Jing, Yongcheng Yu, Qianhao Zheng, Naishan Huang, Jie Long, Yuhang Yao, Mingde Zhao, Feng Zhao, Bowen Ye, Nan Shen, Ning Cao, Yanpeng Xiong, Tong Xia, Weiran Li, Dingwen Xia, Shuchen Computer Vision Lab Ifi Caidas University of Würzburg Germany Computer Vision Lab Eth Zürich Switzerland Meituan Group China Department of Information Technology Uppsala University Sweden Institute of Automation Chinese Academy of Sciences Beijing China Nanjing China Maicro Nanjing China Department of Artificial Intelligence Convergence Sahmyook University Seoul Korea Republic of Megvii Technology China University of Electronic Science and Technology of China China University of Macau China China Toyota Technological Institute Japan Graduate Institute of Electronics Engineering National Taiwan University Taiwan Department of Electrical Engineering National Taiwan University Taiwan Graduate Institute of Communication Engineering National Taiwan University Taiwan ServiceNow United States Beijing University of Post and Teleconmunication Beijing China Key Laboratory of Intelligent Perception and Image Understanding of Ministry of Education China Couger Inc. Computer Vision and Pattern Recognition Lab Indian Institute of Technology Ropar Punjab Rupnagar India Research Institute Singapore National University of Singapore Singapore Research Institute Singapore University of Sydney Australia Brain-Inspired Vision Laboratory Information Science and Technology Institution University of Science and Technology of China China State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou310027 China Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province School of Mechanical Engineering Zhejiang University Hangzhou310027 China South China University of Technology China

ISBN: (纸本)9798350302493

This work reviews the results of the NTIRE 2023 Challenge on Image Shadow Removal. The described set of solutions were proposed for a novel dataset, which captures a wide range of object-light interactions. It consists of 1200 roughly pixel aligned pairs of real shadow free and shadow affected images, captured in a controlled environment. The data was captured in a white-box setup, using professional equipment for lights and data acquisition sensors. The challenge had a number of 144 participants registered, out of which 19 teams were compared in the final ranking. The proposed solutions extend the work on shadow removal, improving over the performance level describing state-of-the-art methods. © 2023 IEEE.

关键词： Data acquisition

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Constrained Optimization with Decision-Dependent Distributions

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IEEE Transactions on Automatic Control 2025年

作者： Wang, Zifan Liu, Changxin Parisini, Thomas Zavlanos, Michael M. Johansson, Karl H. KTH Royal Institute of Technology Division of Decision and Control Systems School of Electrical Engineering and Computer Science Sweden Digital Futures StockholmSE-10044 Sweden East China University of Science and Technology Key Laboratory of Smart Manufacturing in Energy Chemical Process Ministry of Education Shanghai200237 China Imperial College London Department of Electrical and Electronic Engineering LondonSW7 2AZ United Kingdom Aalborg University Department of Electronic Systems Denmark University of Trieste Department of Engineering and Architecture Italy Duke University Department of Mechanical Engineering and Materials Science DurhamNC United States

In this paper we deal with stochastic optimization problems where the data distributions change in response to the decision variables. Traditionally, the study of optimization problems with decision-dependent distributions has assumed either the absence of constraints or fixed constraints. This work considers a more general setting where the constraints can also dynamically adjust in response to changes in the decision variables. Specifically, we consider linear constraints and analyze the effect of decision-dependent distributions in both the objective function and constraints. Firstly, we establish a sufficient condition for the existence of a constrained equilibrium point, at which the distributions remain invariant under retraining. Moreover, we propose and analyze two algorithms: repeated constrained optimization and repeated dual ascent. For each algorithm, we provide sufficient conditions for convergence to the constrained equilibrium point. Furthermore, we explore the relationship between the equilibrium point and the optimal point for the constrained decision-dependent optimization problem. Notably, our results encompass previous findings as special cases when the constraints remain fixed. To show the effectiveness of our theoretical analysis, we provide numerical experiments on both a market problem and a dynamic pricing problem for parking based on real-world data. © 1963-2012 IEEE.

关键词： Optimization algorithms

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Technology Roadmap for Flexible Sensors

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ACS NANO 2023年第6期17卷 5211-5295页

作者： Luo, Yifei Abidian, Mohammad Reza Ahn, Jong-Hyun Akinwande, Deji Andrews, Anne M. Antonietti, Markus Bao, Zhenan Berggren, Magnus Berkey, Christopher A. Bettinger, Christopher John Chen, Jun Chen, Peng Cheng, Wenlong Cheng, Xu Choi, Seon-Jin Chortos, Alex Dagdeviren, Canan Dauskardt, Reinhold H. Di, Chong-an Dickey, Michael D. Duan, Xiangfeng Facchetti, Antonio Fan, Zhiyong Fang, Yin Feng, Jianyou Feng, Xue Gao, Huajian Gao, Wei Gong, Xiwen Guo, Chuan Fei Guo, Xiaojun Hartel, Martin C. He, Zihan Ho, John S. Hu, Youfan Huang, Qiyao Huang, Yu Huo, Fengwei Hussain, Muhammad M. Javey, Ali Jeong, Unyong Jiang, Chen Jiang, Xingyu Kang, Jiheong Karnaushenko, Daniil Khademhosseini, Ali Kim, Dae-Hyeong Kim, Il-Doo Kireev, Dmitry Kong, Lingxuan Lee, Chengkuo Lee, Nae-Eung Lee, Pooi See Lee, Tae-Woo Li, Fengyu Li, Jinxing Liang, Cuiyuan Lim, Chwee Teck Lin, Yuanjing Lipomi, Darren J. Liu, Jia Liu, Kai Liu, Nan Liu, Ren Liu, Yuxin Liu, Yuxuan Liu, Zhiyuan Liu, Zhuangjian Loh, Xian Jun Lu, Nanshu Lv, Zhisheng Magdassi, Shlomo Malliaras, George G. Matsuhisa, Naoji Nathan, Arokia Niu, Simiao Pan, Jieming Pang, Changhyun Pei, Qibing Peng, Huisheng Qi, Dianpeng Ren, Huaying Rogers, John A. Rowe, Aaron Schmidt, Oliver G. Sekitani, Tsuyoshi Seo, Dae-Gyo Shen, Guozhen Sheng, Xing Shi, Qiongfeng Someya, Takao Song, Yanlin Stavrinidou, Eleni Su, Meng Sun, Xuemei Takei, Kuniharu Tao, Xiao-Ming Tee, Benjamin C. K. Thean, Aaron Voon-Yew Trung, Tran Quang Wan, Changjin Wang, Huiliang Wang, Joseph Wang, Ming Wang, Sihong Wang, Ting Wang, Zhong Lin Weiss, Paul S. Wen, Hanqi Xu, Sheng Xu, Tailin Yan, Hongping Yan, Xuzhou Yang, Hui Yang, Le Yang, Shuaijian Yin, Lan Yu, Cunjiang Yu, Guihua Yu, Jing Yu, Shu-Hong Yu, Xinge Zamburg, Evgeny Zhang, Haixia Zhang, Xiangyu Zhang, Xiaosheng Zhang, Xueji Zhang, Yihui Zhang, Yu Zhao, Siyuan Zhao, Xuanhe Zheng, Yuanjin Zheng, Yu-Qing Zheng, Zijian Zhou, Tao Zhu, Bowen Zhu, Ming Zhu, Rong Zhu, Yangzhi Zhu, Yong Zou, Guijin Chen, Xiaodong 08-03 Innovis Singapore 138634 Republic of Singapore Innovative Centre for Flexible Devices (iFLEX) School of Materials Science and Engineering Nanyang Technological University Singapore 639798 Singapore Department of Biomedical Engineering University of Houston Houston Texas 77024 United States School of Electrical and Electronic Engineering Yonsei University Seoul 03722 Republic of Korea Department of Electrical and Computer Engineering The University of Texas at Austin Austin Texas 78712 United States Microelectronics Research Center The University of Texas at Austin Austin Texas 78758 United States Department of Chemistry and Biochemistry California NanoSystems Institute and Department of Psychiatry and Biobehavioral Sciences Semel Institute for Neuroscience and Human Behavior and Hatos Center for Neuropharmacology University of California Los Angeles Los Angeles California 90095 United States Colloid Chemistry Department Max Planck Institute of Colloids and Interfaces 14476 Potsdam Germany Department of Chemical Engineering Stanford University Stanford California 94305 United States Laboratory of Organic Electronics Department of Science and Technology Campus Norrköping Linköping University 83 Linköping Sweden Wallenberg Initiative Materials Science for Sustainability (WISE) and Wallenberg Wood Science Center (WWSC) SE-100 44 Stockholm Sweden Department of Materials Science and Engineering Stanford University Stanford California 94301 United States Department of Biomedical Engineering and Department of Materials Science and Engineering Carnegie Mellon University Pittsburgh Pennsylvania 15213 United States Department of Bioengineering University of California Los Angeles Los Angeles California 90095 United States School of Chemistry Chemical Engineering and Biotechnology Nanyang Technological University Singapore 637457 Singapore Nanobionics Group Department of Chemical and Biological Engineering Monash University Clayton Australia 3800 Monash

Humans rely increasingly on sensors to address grand challenges and to improve quality of life in the era of digitalization and big data. For ubiquitous sensing, flexible sensors are developed to overcome the limitations of conventional rigid counterparts. Despite rapid advancement in bench-side research over the last decade, the market adoption of flexible sensors remains limited. To ease and to expedite their deployment, here, we identify bottlenecks hindering the maturation of flexible sensors and propose promising solutions. We first analyze continued...challenges in achieving satisfactory sensing performance for real-world applications and then summarize issues in compatible sensor-biology interfaces, followed by brief discussions on powering and connecting sensor networks. Issues en route to commercialization and for sustainable growth of the sector are also analyzed, highlighting environmental concerns and emphasizing nontechnical issues such as business, regulatory, and ethical considerations. Additionally, we look at future intelligent flexible sensors. In proposing a comprehensive roadmap, we hope to steer research efforts towards common goals and to guide coordinated development strategies from disparate communities. Through such collaborative

关键词： soft materials mechanics engineering flexible electronics conformable sensors bioelectronics human-machine interfaces body area sensor networks technology translation sustainable electronics

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Global solution to sensor network localization: A non-convex potential game approach and its distributed implementation

arXiv

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arXiv 2024年

作者： Xu, Gehui Chen, Guanpu Hong, Yiguang Fidan, Baris Parisini, Thomas Johansson, Karl H. Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Beijing100190 China The Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden Digital Futures StockholmSE-10044 Sweden Department of Control Science and Engineering Tongji University Shanghai201804 China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai201210 China The Department of Mechanical and Mechatronics Engineering University of Waterloo WaterlooONN2L 3G1 Canada The Department of Electrical and Electronic Engineering Imperial College London LondonSW7 2AZ United Kingdom The Department of Engineering and Architecture University of Trieste Trieste34127 Italy

Consider a sensor network consisting of both anchor and non-anchor nodes. We address the following sensor network localization (SNL) problem: given the physical locations of anchor nodes and relative measurements among all nodes, determine the locations of all non-anchor nodes. The solution to the SNL problem is challenging due to its inherent non-convexity. In this paper, the problem takes on the form of a multi-player nonconvex potential game in which canonical duality theory is used to define a complementary dual potential function. After showing the Nash equilibrium (NE) correspondent to the SNL solution, we provide a necessary and sufficient condition for a stationary point to coincide with the NE. An algorithm is proposed_ to reach the NE and shown to have convergence rate O(1/√k). With the aim of reducing the information exchange within a network, a distributed algorithm for NE seeking is implemented and its global convergence analysis is provided. Extensive simulations show the validity and effectiveness of the proposed approach to solve the SNL problem. Copyright © 2024, The Authors. All rights reserved.

关键词： Game theory

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Distributed Constrained Online Nonconvex Optimization with Compressed Communication

arXiv

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arXiv 2025年

作者： Zhang, Kunpeng Xu, Lei Yi, Xinlei Cao, Ming Johansson, Karl H. Chai, Tianyou Yang, Tao State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China Department of Mechanical Engineering University of Victoria VictoriaBCV8W 2Y2 Canada Shanghai Institute of Intelligent Science and Technology National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education Shanghai201210 China Engineering and Technology Institute Groningen Faculty of Science and Engineering University of Groningen GroningenAG 9747 Netherlands Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden Digital Futures Stockholm10044 Sweden

This paper considers distributed online nonconvex optimization with time-varying inequality constraints over a network of agents. For a time-varying graph, we propose a distributed online primal–dual algorithm with compressed communication to efficiently utilize communication resources. We show that the proposed algorithm establishes an O(T max{1−θ1,θ1}) network regret bound and an O(T 1−θ1/2) network cumulative constraint violation bound, where T is the number of iterations and θ1 ∈ (0, 1) is a user-defined trade-off parameter. When Slater’s condition holds (i.e, there is a point that strictly satisfies the inequality constraints at all iterations), the network cumulative constraint violation bound is reduced to O(T 1−θ1). These bounds are comparable to the state-of-the-art results established by existing distributed online algorithms with perfect communication for distributed online convex optimization with (time-varying) inequality constraints. Finally, a simulation example is presented to validate the theoretical results. Copyright © 2025, The Authors. All rights reserved.

关键词： Convex optimization

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Frequency multiplexed photothermal correlation tomography for non-destructive evaluation of manufactured materials

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International Journal of Extreme Manufacturing 2025年第03期 538-552页

作者： Pengfei Zhu Rongbang Wang Koneswaran Sivagurunathan Stefano Sfarra Fabrizio Sarasini Clemente Ibarra-Castanedo Xavier Maldague Hai Zhang Andreas Mandelis Department of Electrical and Computer Engineering Computer Vision and Systems Laboratory(CVSL)Laval University Centre for Composite Materials and Structures (CCMS) Harbin Institute of Technology Center for Advanced Diffusion-Wave and Photoacoustic Technologies (CADIPT) and Institute for Advanced Non-Destructive and Non-Invasive Diagnostic Technologies (IANDIT) Department of Mechanical and Industrial EngineeringUniversity of Toronto Department of Industrial and Information Engineering and Economics (DIIIE) University of L'Aquila Department of Chemical Engineering Materials Environment&UDR INSTM Sapienza University of Rome

Infrared thermography has been widely applied in real industrial inspection of aerospace,energy management systems,engines,and electric ***,two-dimensional imaging modality limits its ***,a technique named frequency multiplexed photothermal correlation tomography (FM-PCT) was developed to enable non-destructive and contactless cross-sectional imaging for manufactured material evaluation and *** combining advantages of photothermal tomography and pulsed thermography,FM-PCT facilitates the generation of three-dimensional thermal images through temporal superposition(stacking) of two-dimensional images from sequential subsurface ***-PCT image processing involves pulsed excitation signals to which frequency delay and matched filtering techniques are *** features of FM-PCT are high-resolution three-dimensional tomographic imaging under low camera frame-rate conditions with self-correcting capability for diffusion (blurring) correction of subsurface images due to cross-correlation processing of individual frequencies in the Fourier decomposition spectrum of the excitation ***,FM-PCT extends truncated-correlation photothermal coherence tomography from chirp and pulsed signals to more general linear heating ***-in thermography and x-ray computed tomography validation demonstrate that 3D FM-PCT imaging accurately reveals subsurface discontinuities/defects in solids despite the diffusive nature of thermal-wave imaging.

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Quantized Distributed Nonconvex Optimization with Linear Convergence

Quantized Distributed Nonconvex Optimization with Linear Con...

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IEEE Conference on Decision and Control

作者： Lei Xu Xinlei Yi Jiayue Sun Yang Shi Karl Henrik Johansson Tao Yang State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang China Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Digital Futures Stockholm Sweden Department of Mechanical Engineering University of Victoria Victoria Canada

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

This paper considers distributed nonconvex op-timization for minimizing the average of local cost functions, by using local information exchange over undirected communication networks. Since the communication channels often have limited bandwidth or capacity, we first introduce a quantization rule and an encoder/decoder scheme to reduce the transmission bits. By integrating them with a distributed algorithm, we then propose a distributed quantized nonconvex optimization algorithm. Assuming the global cost function satisfies the Polyak– Łojasiewicz condition, which does not require the global cost function to be convex and the global minimizer is not necessarily unique, we show that the proposed algorithm linearly converges to a global optimal point. Moreover, a low data rate is shown to be sufficient to ensure linear convergence when the algorithm parameters are properly chosen. The theoretical results are illustrated by numerical simulation examples.

关键词： Quantization (signal) Communication channels Bandwidth Cost function Numerical simulation Communication networks Distributed algorithms

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