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Distributed Online Convex Optimization with Adversarial Constraints: Reduced Cumulative Constraint Violation Bounds under Slater’s Condition

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arXiv 2023年

作者： Yi, Xinlei Li, Xiuxian Yang, Tao Xie, Lihua Hong, Yiguang Chai, Tianyou Johansson, Karl H. Lab for Information & Decision Systems Massachusetts Institute of Technology CambridgeMA02139 United States Department of Control Science and Engineering College of Electronics and Information Engineering Tongji University Shanghai201804 China Shanghai Research Institute for Intelligent Autonomous Systems China The State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China School of Electrical and Electronic Engineering Nanyang Technological University 50 Nanyang Avenue Singapore639798 Singapore 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 convex optimization with adversarial constraints. In this setting, a network of agents makes decisions at each round, and then only a portion of the loss function and a coordinate block of the constraint function are privately revealed to each agent. The loss and constraint functions are convex and can vary arbitrarily across rounds. The agents collaborate to minimize network regret and cumulative constraint violation. A novel distributed online algorithm is proposed and it achieves an O(T max{c,1−c}) network regret bound and an O(T 1−c/2) network cumulative constraint violation bound, where T is the number of rounds and c ∈ (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), the network cumulative constraint violation bound is reduced to O(T 1−c). Moreover, if the loss functions are strongly convex, then the network regret bound is reduced to O(log(T)), and the network cumulative constraint violation bound is reduced to O(√log(T)T) and O(log(T)) without and with Slater’s condition, respectively. To the best of our knowledge, this paper is the first to achieve reduced (network) cumulative constraint violation bounds for (distributed) online convex optimization with adversarial constraints under Slater’s condition. Finally, the theoretical results are verified through numerical simulations. Copyright © 2023, The Authors. All rights reserved.

关键词： Economic and social effects

PDAVIS: Bio-inspired Polarization Event Camera

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PDAVIS: Bio-inspired Polarization Event Camera

IEEE computer Society Conference on computer Vision and Pattern Recognition Workshops (CVPRW)

作者： Germain Haessig Damien Joubert Justin Haque Moritz B. Milde Tobi Delbruck Viktor Gruev AIT Austrian Institute of Technology Center for Vision Automation & Control High-Performance Vision Systems Vienna Austria Institute of Neuroinformatics University of Zurich and ETH Zurich Switzerland International Centre for Neuromorphic Systems The MARCS Institute Western Sydney University Sydney Australia Department of Electrical and Computer Engineering University of Illinois at Urbana-Champaign Urbana IL USA

The stomatopod (mantis shrimp) visual system has recently provided a blueprint for the design of paradigm-shifting polarization and multispectral imaging sensors, enabling solutions to challenging medical and remote sensing problems. However, these bioinspired frame-based cameras lack the high dynamic range and asynchronous polarization vision capabilities of the stomatopod visual system, limiting temporal resolution to ~12ms and dynamic range to ~72dB. Here we present a novel stomatopod-inspired polarization camera which mimics the sustained and transient biological visual pathways to save power and sample data beyond the maximum Nyquist frame rate. This bio-inspired sensor simultaneously captures both synchronous intensity frames and asynchronous polarization brightness change information with submillisecond latencies over a millionfold range of illumination. Our PDAVIS camera is comprised of 346x260 pixels, organized in 2-by-2 macropixels, which filter the incoming light with four linear polarization filters offset by 45°. Polarization information is reconstructed using both low-cost and low-latency event-based algorithms and more accurate but slower deep neural networks. Our sensor is used to image high dynamic range polarization scenes that vary at high speeds and to observe the dynamical properties of single collagen fibers in a bovine tendon under rapid cyclical ***: https://***/mFuCeTMWEqY

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Awareness in robotics: An early perspective from the viewpoint of the EIC Pathfinder Challenge "Awareness Inside"

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arXiv 2024年

作者： Santina, Cosimo Della Corbato, Carlos Hernandez Sisman, Burak Leiva, Luis A. Arapakis, Ioannis Vakalellis, Michalis Vanderdonckt, Jean D’Haro, LuisFernando Manzi, Guido Becchio, Cristina Elamrani, Aïda Alirezaei, Mohsen Castellano, Ginevra Dimarogonas, Dimos V. Ghosh, Arabinda Haesaert, Sofie Soudjani, Sadegh Stroeve, Sybert Verschure, Paul Bacciu, Davide Deroy, Ophelia Bahrami, Bahador Gallicchio, Claudio Hauert, Sabine Sanz, Ricardo Lanillos, Pablo Iacca, Giovanni Sigg, Stephan Gasulla, Manel Steels, Luc Sierra, Carles Department of Cognitive Robotics Delft University of Technology Delft Netherlands Oberpfaffenhofen Germany Department of Computer Science University of Luxembourg Luxembourg 4 Telefónica I+D Spain AEGIS IT Research GmbH Germany Université catholique de Louvain Belgium Speech Technology and Machine Learning Group ETSI de Telecomunicación Universidad Politécnica de Madrid Madrid Spain Alien Venture Studio Alien Technology Transfer Rome Italy Hamburg Germany Institut Jean Nicod École Normale Supérieure Paris France Research Technology and Development Department Digital Industry Software Helmond Netherlands Department of Information Technology Uppsala University Uppsala Sweden Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Max Planck Institute for Software Systems Kaiserslautern Germany Department of Electrical Engineering Control Systems Group Eindhoven University of Technology Eindhoven Netherlands Amsterdam Netherlands Donders Centre for Neuroscience Radboud University Nijmegen Netherlands Computer Science Department University of Pisa Pisa Italy Faculty of Philosophy Philosophy of Science The Study of Religion Ludwig Maximilian University of Munich Munich Germany School of Engineering Mathematics and Technology University of Bristol Bristol United Kingdom Autonomous Systems Laboratory Universidad Politécnica de Madrid Spain Madrid Spain Department of Information Engineering and Computer Science University of Trento Trento Italy Department of Information and Communications Engineering Aalto University Espoo Finland Department of Electronic Engineering Universitat Politècnica de Catalunya Barcelona Spain Studio Stelluti Brussels Belgium Barcelona Spain

Consciousness has been historically a heavily debated topic in engineering, science, and philosophy. On the contrary, awareness had less success in raising the interest of scholars in the past. However, things are changing as more and more researchers are getting interested in answering questions concerning what awareness is and how it can be artificially generated. The landscape is rapidly evolving, with multiple voices and interpretations of the concept being conceived and techniques being developed. The goal of this paper is to summarize and discuss the ones among these voices that are connected with projects funded by the EIC Pathfinder Challenge called "Awareness Inside", a nonrecurring call for proposals within Horizon Europe that was designed specifically for fostering research on natural and synthetic awareness. In this perspective, we dedicate special attention to challenges and promises of applying synthetic awareness in robotics, as the development of mature techniques in this new field is expected to have a special impact on generating more capable and trustworthy embodied systems. © 2024, CC BY.

关键词： Robotics

Robust Data-Driven Predictive control of Unknown Nonlinear systems using Reachability Analysis

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arXiv 2022年

作者： Farjadnia, Mahsa Alanwar, Amr Niazi, Muhammad Umar B. Molinari, Marco Johansson, Karl Henrik Department of Energy Technology School of Industrial Engineering and Management KTH Royal Institute of Technology Stockholm Sweden School of Computer Science and Engineering Constructor University Bremen Germany Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Laboratory for Information and Decision Systems Massachusetts Institute of Technology Cambridge United States

This work proposes a robust data-driven predictive control approach for unknown nonlinear systems in the presence of bounded process and measurement noise. Data-driven reachable sets are employed for the controller design instead of using an explicit nonlinear system model. Although the process and measurement noise are bounded, the statistical properties of the noise are not required to be known. By using the past noisy input-output data in the learning phase, we propose a novel method to over-approximate exact reachable sets of an unknown nonlinear system. Then, we propose a data-driven predictive control approach to compute safe and robust control policies from noisy online data. The constraints are guaranteed in the control phase with robust safety margins by effectively using the predicted output reachable set obtained in the learning phase. Finally, a numerical example validates the efficacy of the proposed approach and demonstrates comparable performance with a model-based predictive control approach. Copyright © 2022, The Authors. All rights reserved.

关键词： Nonlinear systems

Distributed formation control of networked mechanical systems

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arXiv 2022年

作者： Javanmardi, Najmeh Borja, P. Yazdanpanah, M.J. Scherpen, J.M.A. Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran Department of Cognitive Robotics Delft University of Technology Delft Netherlands Jan C. Wilems Center for Systems and Control ENTEG Faculty of Science and Engineering University of Groningen Groningen Netherlands

This paper investigates a distributed formation tracking control law for large-scale networks of mechanical systems. In particular, the formation network is represented by a directed communication graph with leaders and followers, where each agent is described as a port-Hamiltonian system with a constant mass matrix. Moreover, we adopt a distributed parameter approach to prove the scalable asymptotic stability of the network formation, i.e., the scalability with respect to the network size and the specific formation preservation. A simulation case illustrates the effectiveness of the proposed control approach. © 2022, CC BY.

关键词： Networked control systems

Design and Implementation of a Two-Limbed 3T1R Haptic Device

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Design and Implementation of a Two-Limbed 3T1R Haptic Device

IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Long Kang Yang Yang Byung-Ju Yi PCA Lab Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education School of Computer Science and Engineering Nanjing University of Science and Technology Nanjing China Xi'an Modern Control Technology Research Institute Xi'an China School of Automation Nanjing University of Information Science and Technology Nanjing China Department of the Electronic Systems Engineering Hanyang University Ansan South Korea

This paper presents a haptic device with a simple architecture of only two limbs that can provide translational motion in three degrees of freedom (DOF) and one-DOF rotational motion. Actuation redundancy eliminates all forward-kinematic singularities and improves the motion-force transmission property. Thanks to the special structure of the kinematic chains, all actuators are close to the base and full gravity compensation is achieved passively by using springs. Force producibility analysis shows that this haptic device is able to produce long-term continuous force feedback of 15–30 N in each direction. By developing a prototype of the haptic device and a virtual three-dimensional simulator, a preliminary performance evaluation of the haptic device was conducted. In addition, a torque distribution algorithm considering a relaxed form of actuator-torque saturation was experimentally evaluated, and a comparison with other algorithms reveals that this algorithm offers several advantages.

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Lidar-Based Multiple Object Tracking with Occlusion Handling

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Lidar-Based Multiple Object Tracking with Occlusion Handling

IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Ruo-Tsz Ho Chieh-Chih Wang Wen-Chieh Lin Institute of Electrical and Control Engineering National Yang Ming Chiao Tung University Hsinchu Taiwan Department of Electronics and Electrical Engineering National Yang Ming Chiao Tung University Mechanical and Mechatronics Systems Research Laboratories Industrial Technology Research Institute Hsinchu Taiwan Department of Computer Science National Yang Ming Chiao Tung University Hsinchu Taiwan

Occlusion remains an issue in multiple object tracking, which could cause ambiguity in object detection, such as incorrect or missing detection. Under occlusion, a track could experience an early termination, resulting in identity switches and/or fragmentation. To recover from different lengths of occlusions, the track should be maintained by considering its occlusion status. To address the issues mentioned above, we propose an indicator that can model the track's occlusion extent via geometric information provided by LiDAR data. Through incorporating the indicator into the track management and data association process, it is feasible to prevent tracks from premature termination. The proposed method is evaluated on the collected dataset which undergoes frequent and severe occlusions. Compared to the state-of-the-art probabilistic tracking approach, our approach achieves improvements of 3.26% in MOTA and 5.36% in IDF1. Additionally, we obtain 9.89% improvements in IDF1 specifically for objects experiencing severe occlusions.

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Distributed design of deterministic discrete-time privacy preserving average consensus for multi-agent systems through network augmentation

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arXiv 2021年

作者： Ramos, Guilherme Pedro Aguiar, A. Kar, Soummya Pequito, Sérgio The Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Portugal The Department of Electrical and Computer Engineering Carnegie Mellon University United States The Delft University of Technology The Delft Center for Systems and Control Netherlands

Average consensus protocols emerge with a central role in distributed systems and decision-making such as distributed information fusion, distributed optimization, distributed estimation, and control. A key advantage of these protocols is that agents exchange and reveal their state information only to their neighbors. Yet, it can raise privacy concerns in situations where the agents' states contain sensitive information. In this paper, we propose a novel (noiseless) privacy preserving distributed algorithms for multi-agent systems to reach an average consensus. The main idea of the algorithms is that each agent runs a (small) network with a crafted structure and dynamics to form a network of networks (i.e., the connection between the newly created networks and their interconnections respecting the initial network connections). Together with a re-weighting of the dynamic parameters dictating the inter-agent dynamics and the initial states, we show that it is possible to ensure that the value of each node converges to the consensus value of the original network. Furthermore, we show that, under mild assumptions, it is possible to craft the dynamics such that the design can be achieved in a distributed fashion. Finally, we illustrate the proposed algorithm with examples. Copyright © 2021, The Authors. All rights reserved.

关键词： Multi agent systems

Distributed Finite Time k-means Clustering with Quantized Communucation and Transmission Stopping

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arXiv 2022年

作者： Rikos, Apostolos I. Oliva, Gabriele Hadjicostis, Christoforos N. Johansson, Karl H. The Division of Decision and Control Systems KTH Royal Institute of Technology StockholmSE-100 44 Sweden The Unit of Automatic Control Department of Engineering Università Campus Bio-Medico di Roma via Álvaro del Portillo 21 Rome00128 Italy The Department of Electrical and Computer Engineering University of Cyprus Nicosia1678 Cyprus

In this paper, we present a distributed algorithm which implements the k-means algorithm in a distributed fashion for multi-agent systems with directed communication links. The goal of k-means is to partition the network’s agents in mutually exclusive sets (groups) such that agents in the same set have (and possibly share) similar information and are able to calculate a representative value for their group. During the operation of our distributed algorithm, each node (i) transmits quantized values in an event-driven fashion, and (ii) exhibits distributed stopping capabilities. Transmitting quantized values leads to more efficient usage of the available bandwidth and reduces the communication bottleneck. Also, in order to preserve available resources, nodes are able to distributively determine whether they can terminate the operation of the proposed algorithm. We characterize the properties of the proposed distributed algorithm and show that its execution (on any static and strongly connected digraph) will partition all agents to mutually exclusive clusters in finite time. We conclude with examples that illustrate the operation, performance, and potential advantages of the proposed algorithm. © 2022, CC BY.

关键词： K-means clustering