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arXiv 2024年

作者： Marchesini, Gregorio Liu, Siyuan Lindemann, Lars Dimarogonas, Dimos V. Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden Thomas Lord Department of Computer Science University of Southern California Los AngelesCA United States

We consider the problem of decomposing a global task assigned to a multi-agent system, expressed as a formula within a fragment of Signal Temporal Logic (STL), under range-limited communication. Given a global task expressed as a conjunction of local tasks defined over the individual and relative states of agents in the system, we propose representing task dependencies among agents as edges of a suitably defined task graph. At the same time, range-limited communication naturally induces the definition of a communication graph that defines which agents have access to each other’s states. Within these settings, inconsistencies arise when a task dependency between a pair of agents is not supported by a corresponding communication link due to the limited communication range. As a result, state feedback control laws previously derived to achieve the tasks’ satisfaction can not be leveraged. We propose a task decomposition mechanism to distribute tasks assigned to pairs of non-communicating agents in the system as conjunctions of tasks defined over the relative states of communicating agents, thus enforcing consistency between task and communication graphs. Assuming the super-level sets of the predicate functions composing the STL tasks are bounded polytopes, our task decomposition mechanism can be cast as a parameter optimization problem and solved via state-of-the-art decentralized convex optimization algorithms. To guarantee the soundness of our approach, we present various conditions under which the tasks defined in the applied STL fragment are unsatisfiable, and we show sufficient conditions such that our decomposition approach yields satisfiable global tasks after decomposition. © 2024, CC BY-NC-SA.

关键词： Convex optimization

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Evolutionary Alternating Direction Method of Multipliers for Constrained Multi-Objective Optimization with Unknown Constraints

arXiv

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arXiv 2024年

作者： Li, Shuang Li, Ke Li, Wei Yang, Ming Control and Simulation Center Harbin Institute of Technology Harbin150001 China Department of Computer Science University of Exeter ExeterEX4 4QF United Kingdom

Constrained multi-objective optimization problems (CMOPs) pervade real-world applications in science, engineering, and design. Constraint violation has been a building block in designing evolutionary multi-objective optimization algorithms for solving constrained multi-objective optimization problems. However, in certain scenarios, constraint functions might be unknown or inadequately defined, making constraint violation unattainable and potentially misleading for conventional constrained evolutionary multi-objective optimization algorithms. To address this issue, we present the first of its kind evolutionary optimization framework, inspired by the principles of the alternating direction method of multipliers that decouples objective and constraint functions. This framework tackles CMOPs with unknown constraints by reformulating the original problem into an additive form of two subproblems, each of which is allotted a dedicated evolutionary population. Notably, these two populations operate towards complementary evolutionary directions during their optimization processes. In order to minimize discrepancy, their evolutionary directions alternate, aiding the discovery of feasible solutions. Comparative experiments conducted against five state-of-the-art constrained evolutionary multi-objective optimization algorithms, on 120 benchmark test problem instances with varying properties, as well as two real-world engineering optimization problems, demonstrate the effectiveness and superiority of our proposed framework. Its salient features include faster convergence and enhanced resilience to various Pareto front shapes. © 2024, CC BY-NC-ND.

关键词： Constraint handling

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Decentralized control of Multi-Agent Systems Under Acyclic Spatio-Temporal Task Dependencies

arXiv

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arXiv 2024年

作者： Marchesini, Gregorio Liu, Siyuan Lindemann, Lars Dimarogonas, Dimos V. The Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden The Thomas Lord Department of Computer Science University of Southern California Los AngelesCA United States

We introduce a novel distributed sampled-data control method tailored for heterogeneous multi-agent systems under a global spatio-temporal task with acyclic dependencies. Specifically, we consider the global task as a conjunction of independent and collaborative tasks, defined over the absolute and relative states of agent pairs. Task dependencies in this form are then represented by a task graph, which we assume to be acyclic. From the given task graph, we provide an algorithmic approach to define a distributed sampled-data controller prioritizing the fulfilment of collaborative tasks as the primary objective, while fulfilling independent tasks unless they conflict with collaborative ones. Moreover, communication maintenance among collaborating agents is seamlessly enforced within the proposed control framework. A numerical simulation is provided to showcase the potential of our control framework. © 2024, CC BY.

关键词： Decentralized control

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Robustness challenges in Reinforcement Learning based time-critical cloud resource scheduling: A Meta-Learning based solution

Robustness challenges in Reinforcement Learning based time-c...

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作者： Liu, Hongyun Chen, Peng Ouyang, Xue Gao, Hui Yan, Bing Grosso, Paola Zhao, Zhiming Informatics Institute University of Amsterdam Amsterdam1098 XH Netherlands Graduate School of Informatics University of Amsterdam Amsterdam1098 XH Netherlands School of Computer and Software Engineering Xihua University Chengdu610039 China School of Computer Science National University of Defense Technology Changsha410073 China College of Electrical and Control Engineering Shaanxi University of Science and Technology Xi'an710021 China School of Electrical and Electronic Engineering University of Adelaide Adelaide South Australia5005 Australia

Cloud computing attracts increasing attention in processing dynamic computing tasks and automating the software development and operation pipeline. In many cases, the computing tasks have strict deadlines. The cloud resource manager (e.g., orchestrator) effectively manages the resources and provides tasks Quality of Service (QoS). Cloud task scheduling is tricky due to the dynamic nature of task workload and resource availability. Reinforcement Learning (RL) has attracted lots of research attention in scheduling. However, those RL-based approaches suffer from low scheduling performance robustness when the task workload and resource availability change, particularly when handling time-critical tasks. This paper focuses on both challenges of robustness and deadline guarantee among such RL, specifically Deep RL (DRL)-based scheduling approaches. We quantify the robustness measurements as the retraining time and investigate how to improve both robustness and deadline guarantee of DRL-based scheduling. We propose MLR-TC-DRLS, a practical, robust Meta Deep Reinforcement Learning-based scheduling solution to provide time-critical tasks deadline guarantee and fast adaptation under highly dynamic situations. We comprehensively evaluate MLR-TC-DRLS performance against RL-based and RL advanced variants-based scheduling approaches using real-world and synthetic data. The evaluations validate that our proposed approach improves the scheduling performance robustness of typical DRL variants scheduling approaches with 97%–98.5% deadline guarantees and 200%–500% faster adaptation. © 2023 The Author(s)

关键词： Reinforcement learning

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PartDensE: Knowledge Graph Embedding With Joint Use Of Specific Learning And Relation-aware Functions

PartDensE: Knowledge Graph Embedding With Joint Use Of Speci...

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Internet of Things, Automation and Artificial Intelligence (IoTAAI), International Conference on

作者： Qiuyue Dan Delong Cui Zhiping Peng Qirui Li Jieguang He JinBo Qiu School of Information and Control Engineering Jilin Institute of Chemical Technology China School of Electronic and Information Engineering Guangdong University of Petrochemical Technology Maoming China Jiangmen Polytechnic Jiangmen China School of Computer Guangdong University of Petrochemical Technology Maoming China

ISBN: (数字)9798350386974

ISBN: (纸本)9798350386981

Knowledge Graph Embedding (KGE) is important to the value of the Knowledge Graph (KG) in its application field. Currently, neural network-based models achieve the most advanced performance. However, these models rarely consider the potential information between entities and relations in KGs, and also suffer from the problems of complex structure and high consumption of computing resources. In this paper, we propose the simple and efficient model PartDensE by using dense network, combining specific sharing layer and relational awareness layer. Specifically, our model learns all entities and relationships individually and can mine hidden features to enrich global information. Also, learn all the information based on each relation and be able to accurately establish associations between entities and relations. PartDensE can capture global and local features and displayed and hide information, retaining as much valuable information as possible. We evaluated PartDensE with 4 indicators across on two baseline datasets. Numerous experimental data prove the effectiveness of our model.

关键词： Knowledge engineering Automation Accuracy Computational modeling Knowledge graphs Predictive models Benchmark testing Data models Internet of Things

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Dynamic Curing and Network Design in SIS Epidemic Processes

Dynamic Curing and Network Design in SIS Epidemic Processes

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IEEE Conference on Decision and control

作者： Yuhao Yi Liren Shan Philip E. Paré Karl H. Johansson Institute of Clinical Pathology West China Hospital and College of Computer Science Sichuan University Chengdu China Toyota Technological Institute at Chicago School of Electrical and Computer Engineering Purdue University West Lafayette IN USA Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology and they are also affiliated with Digital Futures Stockholm Sweden

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

This paper studies efficient algorithms for dynamic curing policies and the corresponding network design problems to guarantee fast extinction of epidemic spread in a Markov process-based susceptible-infected-susceptible (SIS) model. We provide a computationally efficient curing algorithm based on the curing policy proposed by Drakopoulos, Ozdaglar, and Tsitsiklis (2014). Since the corresponding optimization problem is NP-hard, finding optimal policies is intractable for large graphs. We provide approximation guarantees on the curing budget of the proposed dynamic curing algorithm. To avoid the waiting period included in the original curing policy, we study network design problems to reduce the total infection rate by deleting edges or reducing the weight of edges. To this end, we provide algorithms with provable guarantees. In summary, the proposed curing and network design algorithms together provide an effective and computationally efficient approach that mitigates SIS epidemic spread in networks.

关键词： Epidemics Heuristic algorithms Computational modeling Curing Markov processes Approximation algorithms Linear programming Computational efficiency Resource management Optimization

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ESNet: evolution and succession network for high-resolution salient object detection 24

ESNet: evolution and succession network for high-resolution ...

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Proceedings of the 41st International Conference on Machine Learning

作者： Hongyu Liu Runmin Cong Hua Li Qianqian Xu Qingming Huang Wei Zhang Institute of Information Science Beijing Jiaotong University & Beijing Key Laboratory of Advanced Information Science and Network Technology Beijing China School of Control Science and Engineering Shandong University & Key Laboratory of Machine Intelligence and System Control Ministry of Education Jinan China School of Computer Science and Technology Hainan University Hainan China Key Laboratory of Intelligent Information Processing Institute of Computing Technology CAS Beijing China School of Computer Science and Technology University of Chinese Academy of Sciences Beijing China

Preserving details and avoiding high computational costs are the two main challenges for the High-Resolution Salient Object Detection (HRSOD) task. In this paper, we propose a two-stage HRSOD model from the perspective of evolution and succession, including an evolution stage with Low-resolution Location Model (LrLM) and a succession stage with High-resolution Refinement Model (HrRM). The evolution stage achieves detail-preserving salient objects localization on the low-resolution image through the evolution mechanisms on supervision and feature; the succession stage utilizes the shallow high-resolution features to complement and enhance the features inherited from the first stage in a lightweight manner and generate the final high-resolution saliency prediction. Besides, a new metric named Boundary-Detail-aware Mean Absolute Error (MAEBD) is designed to evaluate the ability to detect details in high-resolution scenes. Extensive experiments on five datasets demonstrate that our network achieves superior performance at real-time speed (49 FPS) compared to state-of-the-art methods. Our code is publicly available at: https://***/rmcong/ESNet_ICML24.

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Policy Optimization to Learn Adaptive Motion Primitives in Path Planning with Dynamic Obstacles

arXiv

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arXiv 2022年

作者： Angulo, Brian Panov, Aleksandr Yakovlev, Konstantin Moscow Institute of Physics and Technology Jsc Integrant Russia Federal Research Center for Computer Science and Control Ras Airi Russia Federal Research Center for Computer Science and Control Ras Moscow Institute of Physics and Technology Airi Russia

This paper addresses the kinodynamic motion planning for non-holonomic robots in dynamic environments with both static and dynamic obstacles - a challenging problem that lacks a universal solution yet. One of the promising approaches to solve it is decomposing the problem into the smaller sub-problems and combining the local solutions into the global one. The crux of any planning method for nonholonomic robots is the generation of motion primitives that generates solutions to local planning sub-problems. In this work we introduce a novel learnable steering function (policy), which takes into account kinodynamic constraints of the robot and both static and dynamic obstacles. This policy is efficiently trained via the policy optimization. Empirically, we show that our steering function generalizes well to unseen problems. We then plug in the trained policy into the sampling-based and lattice-based planners, and evaluate the resultant POLAMP algorithm (Policy Optimization that Learns Adaptive Motion Primitives) in a range of challenging setups that involve a car-like robot operating in the obstacle-rich parking-lot environments. We show that POLAMP is able to plan collisionfree kinodynamic trajectories with success rates higher than 92%, when 50 simultaneously moving obstacles populate the environment showing better performance than the state-of-the-art competitors. The code is available at https://***/BrianAnguloYauri/POLAMP. Copyright © 2022, The Authors. All rights reserved.

关键词： Motion planning

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Differentially Private Dual Gradient Tracking for Distributed Resource Allocation

arXiv

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arXiv 2024年

作者： Huo, Wei Chen, Xiaomeng Huang, Lingying Johansson, Karl Henrik Shi, Ling Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong School of Electrical and Electronic Engineering Nanyang Technology University Singapore639798 Singapore Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden

This paper investigates privacy issues in distributed resource allocation over directed networks, where each agent holds a private cost function and optimizes its decision subject to a global coupling constraint through local interaction with other agents. Conventional methods for resource allocation over directed networks require all agents to transmit their original data to neighbors, which poses the risk of disclosing sensitive and private information. To address this issue, we propose an algorithm called differentially private dual gradient tracking (DP-DGT) for distributed resource allocation, which obfuscates the exchanged messages using independent Laplacian noise. Our algorithm ensures that the agents’ decisions converge to a neighborhood of the optimal solution almost surely. Furthermore, without the assumption of bounded gradients, we prove that the cumulative differential privacy loss under the proposed algorithm is finite even when the number of iterations goes to infinity. To the best of our knowledge, we are the first to simultaneously achieve these two goals in distributed resource allocation problems over directed networks. Finally, numerical simulations on economic dispatch problems within the IEEE 14-bus system illustrate the effectiveness of our proposed algorithm. © 2024, CC BY.

关键词： Differential privacy

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Multi-party secure communication using blockchain over 5G

Multi-party secure communication using blockchain over 5G

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International Conference on Artificial Intelligence, Blockchain, Computing and Security, ICABCS 2023

作者： Archana, K. Kareem, Z.H. Al-Farhani, Liwa H. Bagyalakshmi, K. Jenvi, Ignatia K. Majella Kumar, Ashok Department of Computer Engineering Pimpri Chinchwad College of Engineering and Research Maharashtra Pune India Medical Instrumentation Techniques Engineering Department Al-Mustaqbal University College Babylon Iraq System Analysis Control and Information Processing dep Academy of Engineering RUDN University Moscow Russia Sri Ranganathar Institute of Engineering and Technology Coimbatore India Mathematics Department Saveetha School of Engineering SIMATS Saveetha Nagar Chennai India Department of Computer Science Banasthali Vidyapith Rajasthan Banasthali India

ISBN: (纸本)9781032669663

One of the most critical problems facing the blockchain technology industry right now is how to protect the privacy of users’ data on the blockchain in a way that is both effective and cheap. Based on the Pedersen commitment and the Schnorr protocol, this study comes up with a secure multi-party computing protocol (BPLSM). By making the structure of the protocol and doing formal proof calculations, it has been shown that the protocol can be used in the blockchain network to combine private messages for efficient signing while keeping people’s identities secret. Furthermore, by looking at the nature and security of the protocol, it is also possible to find that the BPLSM protocol on the blockchain has a low cost of computing and a high level of information secrecy. Furthermore, it was found that the BPLSM protocol takes less time to check than the current mainstream BLS signature in a simple multi-party transaction with a fixed number of participants. © 2024 The Author(s).

关键词： Blockchain

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