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IEEE Conference on Decision and control

作者： Bruce D. Lee Ingvar Ziemann Anastasios Tsiamis Henrik Sandberg Nikolai Matni Department of Electrical and Systems Engineering University of Pennsylvania Automatic Control Laboratory ETH Zurich Division of Decision and Control Systems KTH Royal Institute of Technology

We present a local minimax lower bound on the excess cost of designing a linear-quadratic controller from offline data. The bound is valid for any offline exploration policy that consists of a stabilizing controller and an energy bounded exploratory input. The derivation leverages a relaxation of the minimax estimation problem to Bayesian estimation, and an application of van Trees inequality. We show that the bound aligns with system-theoretic intuition. In particular, we demonstrate that the lower bound increases when the optimal control objective value increases. We also show that the lower bound increases when the system is poorly excitable, as characterized by the spectrum of the controllability gramian of the system mapping the noise to the state and the $\mathcal{H}_{\infty}$ norm of the system mapping the input to the state. We further show that for some classes of systems, the lower bound may be exponential in the state dimension, demonstrating exponential sample complexity for learning the linear-quadratic regulator.

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A Model-Based Approach for Improving Reinforcement Learning Efficiency Leveraging Expert Observations

A Model-Based Approach for Improving Reinforcement Learning ...

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IEEE Conference on Decision and control

作者： Erhan Can Ozcan Vittorio Giammarino James Queeney Ioannis Ch. Paschalidis Division of Systems Engineering Boston University Boston MA USA Mitsubishi Electric Research Laboratories (MERL) Cambridge MA USA Department of Electrical and Computer Engineering Department of Biomedical Engineering Division of Systems Engineering Boston University Boston MA USA

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

This paper investigates how to incorporate expert observations (without explicit information on expert actions) into a deep reinforcement learning setting to improve sample efficiency. First, we formulate an augmented policy loss combining a maximum entropy reinforcement learning objective with a behavioral cloning loss that leverages a forward dynamics model. Then, we propose an algorithm that automatically adjusts the weights of each component in the augmented loss function. Experiments on a variety of continuous control tasks demonstrate that the proposed algorithm outperforms various benchmarks by effectively utilizing available expert observations.

关键词： Training Visualization Heuristic algorithms Cloning Benchmark testing Deep reinforcement learning Entropy Standards

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Cyber-Security Knowledge Graph Generation by Hierarchical Nonnegative Matrix Factorization 12

Cyber-Security Knowledge Graph Generation by Hierarchical No...

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12th International Symposium on Digital Forensics and Security, ISDFS 2024

作者： Barron, Ryan Eren, Maksim E. Bhattarai, Manish Wanna, Selma Solovyev, Nicholas Rasmussen, Kim Alexandrov, Boian S. Nicholas, Charles Matuszek, Cynthia Los Alamos National Laboratory Theoretical Division Los Alamos United States Los Alamos National Laboratory Advanced Research in Cyber Systems Los Alamos United States University of Maryland Department of Computer Science and Electrical Engineering Baltimore CountyMD United States

ISBN: (纸本)9798350330366

Much of human knowledge in cybersecurity is encapsulated within the ever-growing volume of scientific papers. As this textual data continues to expand, the importance of document organization methods becomes increasingly crucial for extracting actionable insights hidden within large text datasets. Knowledge Graphs (KGs) serve as a means to store factual information in a structured manner, providing explicit, interpretable knowledge that includes domain-specific information from the cybersecurity scientific literature. One of the challenges in constructing a KG from scientific literature is the extraction of ontology from unstructured text. In this paper, we address this topic and introduce a method for building a multi-modal KG by extracting structured ontology from scientific papers. We demonstrate this concept in the cybersecurity domain. One modality of the KG represents observable information from the papers, such as the categories in which they were published or the authors. The second modality uncovers latent (hidden) patterns of text extracted through hierarchical and semantic non-negative matrix factorization (NMF), such as named entities, topics or clusters, and keywords. We illustrate this concept by consolidating more than two million scientific papers uploaded to arXiv into the cyber-domain, using hierarchical and semantic NMF, and by building a cyber-domain-specific KG. © 2024 IEEE.

关键词： Cybersecurity

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Binary Bleed: Fast Distributed and Parallel Method for Automatic Model Selection

Binary Bleed: Fast Distributed and Parallel Method for Autom...

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2024 IEEE High Performance Extreme Computing Conference, HPEC 2024

作者： Barron, Ryan Eren, Maksim E. Bhattarai, Manish Boureima, Ismael Matuszek, Cynthia Alexandrov, Boian S. Theoretical Division Los Alamos National Laboratory Los Alamos United States University of Maryland Baltimore County Department of Computer Science and Electrical Engineering MD United States Advanced Research in Cyber Systems Los Alamos National Laboratory Los Alamos United States

ISBN: (纸本)9798350387131

In several Machine Learning (ML) clustering and dimensionality reduction approaches, such as nonnegative matrix factorization (NMF), RESCAL, and K-Means clustering, users must select a hyper-parameter k to define the number of clusters or components that yield an ideal separation of samples or clean clusters. This selection, while difficult, is crucial to avoid overfitting or underfitting the data. Several ML applications use scoring methods (e.g., Silhouette and Davies Boulding scores) to evaluate the cluster pattern stability for a specific k. The score is calculated for different trials over a range of k, and the ideal k is heuristically selected as the value before the model starts overfitting, indicated by a drop or increase in the score resembling an elbow curve plot. While the grid-search method can be used to accurately find a good k value, visiting a range of k can become time-consuming and computationally resource-intensive. In this paper, we introduce the Binary Bleed method based on binary search, which significantly reduces the k search space for these grid-search ML algorithms by truncating the target k values from the search space using a heuristic with thresholding over the scores. Binary Bleed is designed to work with single-node serial, single-node multi-processing, and distributed computing resources. In our experiments, we demonstrate the reduced search space gain over a naive sequential search of the ideal k and the accuracy of the Binary Bleed in identifying the correct k for NMFk, K-Means pyDNMFk, and pyDRESCALk with Silhouette and Davies Boulding scores. We make our implementation of Binary Bleed for the NMF algorithm available on GitHub. © 2024 IEEE.

关键词： Dimensionality reduction

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Non-Convex Potential Games for Finding Global Solutions to Sensor Network Localization

Non-Convex Potential Games for Finding Global Solutions to S...

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European control Conference (ECC)

作者： Gehui Xu Guanpu Chen Yiguang Hong Baris Fidan Thomas Parisini Karl H. Johansson Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Beijing China Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Department of Control Science and Engineering Tongji University Shanghai China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai China Department of Mechanical and Mechatronics Engineering University of Waterloo Waterloo ON Canada Department of Electrical and Electronic Engineering Imperial College London London UK Department of Engineering and Architecture University of Trieste Trieste Italy

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

Sensor network localization (SNL) problems require determining the physical coordinates of all sensors in a network. This process relies on the global coordinates of anchors and the available measurements between non-anchor and anchor nodes. Attributed to the intrinsic non-convexity, obtaining a globally optimal solution to SNL is challenging, as well as implementing corresponding algorithms. In this paper, we formulate a non-convex multi-player potential game for a generic SNL problem to investigate the identification condition of the global Nash equilibrium (NE) therein, where the global NE represents the global solution of SNL. We employ canonical duality theory to transform the non-convex game into a complementary dual problem. Then we develop a conjugation-based algorithm to compute the stationary points of the complementary dual problem. On this basis, we show an identification condition of the global NE: the stationary point of the proposed algorithm satisfies a duality relation. Finally, simulation results are provided to validate the effectiveness of the theoretical results.

关键词： Location awareness Coordinate measuring machines Simulation Current measurement Noise Europe Games

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Distributed Optimization with Efficient Communication, Event-Triggered Solution Enhancement, and Operation Stopping

arXiv

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arXiv 2025年

作者： Rikos, Apostolos I. Jiang, Wei Charalambous, Themistoklis Johansson, Karl H. Guangzhou China Department of Computer Science and Engineering The Hong Kong University of Science and Technology Clear Water Bay Hong Kong Department of Electrical Engineering and Automation School of Electrical Engineering Aalto University Espoo Finland Department of Electrical and Computer Engineering University of Cyprus Nicosia1678 Cyprus Department of Electrical Engineering and Automation School of Electrical Engineering Aalto University Finland Division of Decision and Control Systems KTH Royal Institute of Technology StockholmSE-100 44 Sweden Digital Futures United Kingdom

In modern large-scale systems with sensor networks and IoT devices it is essential to collaboratively solve complex problems while utilizing network resources efficiently. In our paper we present three distributed optimization algorithms that exhibit efficient communication among nodes. Our first algorithm presents a simple quantized averaged gradient procedure for distributed optimization, which is shown to converge to a neighborhood of the optimal solution. Our second algorithm incorporates a novel event-triggered refinement mechanism, which refines the utilized quantization level to enhance the precision of the estimated optimal solution. It enables nodes to terminate their operation according to predefined performance guarantees. Our third algorithm is tailored to operate in environments where each message consists of only a few bits. It incorporates a novel event-triggered mechanism for adjusting the quantizer basis and quantization level, allowing nodes to collaboratively decide operation termination based on predefined performance criteria. We analyze the three algorithms and establish their linear convergence. Finally, an application on distributed sensor fusion for target localization is used to demonstrate their favorable performance compared to existing algorithms in the literature. © 2025, CC BY.

关键词： Dynamic programming

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A Shape Memory Alloy Based Chipless RF Temperature Sensor

A Shape Memory Alloy Based Chipless RF Temperature Sensor

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Antennas and Propagation & USNC/URSI National Radio Science Meeting

作者： Srabana Maiti Md Mirazur Rahman Md Ashif Islam Oni Sayan Roy Dipankar Mitra Shuvashis Dey Department of Electrical and Computer Engineering North Dakota State University Fargo ND USA Electrical and Computer Engineering Division of Energy Matter and Systems University of Missouri-Kansas City MO USA Department of Computer Science and Computer Engineering University of Wisconsin-La Crosse WI USA

ISBN: (数字)9798350369908

ISBN: (纸本)9798350369915

This article details the design and simulation of a chipless RF temperature sensor featuring a square-shaped tag on a Rogers Ultralam 3850 substrate. The sensor is meticulously designed to resonate at 2.746 GHz, exhibiting a reflection coefficient of −38.54 dB. Its temperature-sensing capabilities span the frequency range of 2.0-3.6 GHz. Employing Nitinol as the sensing material, the sensor responds to temperature-induced deformation, resulting in a discernible shift in the resonant frequency and a concurrent reduction in the reflection coefficient amplitude. This innovative sensor presents a compelling solution for temperature-sensing applications, as evidenced by a calibration curve derived from data, illustrating a consistent linear correlation between temperature and reflection coefficient amplitude. The comprehensive simulation and analysis of the chipless RF sensor were executed using CST Microwave Studio for simulation and CST MPhysics Studio for in-depth analysis.

关键词： Temperature sensors Radio frequency Temperature distribution Deformation Simulation Resonant frequency Reflection coefficient

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Uncertainty-Informed Model Selection Method for Nonlinear System Identification and Interpretable Machine Learning

Uncertainty-Informed Model Selection Method for Nonlinear Sy...

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Mediterranean Conference on control and Automation (MED)

作者： Yuanlin Gu Hua-Liang Wei Division of Computer Science and Maths University of Stirling Stirling United Kingdom Department of Automatic Control and Systems Engineering University of Sheffield Sheffield

ISBN: (数字)9798350395440

ISBN: (纸本)9798350395457

Modeling uncertainty has been an active and important topic in the fields of data-driven modeling and machine learning. Uncertainty ubiquitously exists in any data modeling process, making it challenging to identify the optimal models among many potential candidates. This article proposes an uncertainty-informed method to address the model selection problem. The performance of the proposed method is evaluated on a dataset generated from a complex system model. The experimental results demonstrate the effectiveness of the proposed method and its superiority over conventional approaches. This method has minimal requirements for the length of training data and model types, making it applicable for various modeling frameworks.

关键词： Data-driven modeling Adaptation models Uncertainty Recurrent neural networks Training data Machine learning Data models

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Resilient distributed optimization under mobile malicious attacks

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IFAC-PapersOnLine 2023年第2期56卷 997-1002页

作者： Yuan Wang Changxin Liu Hideaki Ishii Karl Henrik Johansson Department of Robotics Hunan University Changsha China Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology and Digital Futures Stockholm Sweden Department of Computer Science Tokyo Institute of Technology Yokohama Japan

This article addresses the distributed optimization problem in the presence of malicious adversaries that can move within the network and induce faulty behaviors in the attacked nodes. We first investigate the vulnerabilities of a consensus-based secure distributed optimization protocol under mobile adversaries. Then, a modified resilient distributed optimization algorithm is proposed. We develop conditions on the network structure for both complete and non-complete directed graph cases, under which the proposed algorithm guarantees that the estimates by regular nodes converge to the convex combination of the minimizers of their local functions. Simulations are carried out to verify the effectiveness of our approach.

关键词： Fault-tolerant distributed optimization multi-agent systems network security mobile adversary agents

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Distributed Sequential Receding Horizon control of Multi-Agent systems Under Recurring Signal Temporal Logic

Distributed Sequential Receding Horizon Control of Multi-Age...

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European control Conference (ECC)

作者： Eleftherios E. Vlahakis Lars Lindemann Dimos V. Dimarogonas Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Thomas Lord Department of Computer Science Viterbi School of Engineering University of Southern California Los Angeles CA USA

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

We consider the synthesis problem of a multi-agent system under signal temporal logic (STL) specifications representing bounded-time tasks that need to be satisfied recurrently over an infinite horizon. Motivated by the limited approaches to handling recurring STL systematically, we tackle the infinite-horizon control problem with a receding horizon scheme equipped with additional STL constraints that introduce minimal complexity and a backward-reachability-based terminal condition that is straightforward to construct and ensures recursive feasibility. Subsequently, we decompose the global receding horizon optimization problem into agent-level programs the objectives of which are to minimize local cost functions subject to local and joint STL constraints. We propose a scheduling policy that allows individual agents to sequentially optimize their control actions while maintaining recursive feasibility. This results in a distributed strategy that can operate online as a model predictive controller. Last, we illustrate the effectiveness of our method via a multi-agent system example assigned a surveillance task.

关键词： Surveillance Decentralized control Europe Predictive models Fasteners Cost function Infinite horizon

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