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

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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

Distributed Event-Triggered Bandit Convex Optimization With Time-Varying Constraints

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IEEE Transactions on control of Network Systems 2025年

作者： Zhang, Kunpeng Yi, Xinlei Wen, Guanghui Cao, Ming Johansson, Karl H. Chai, Tianyou Yang, Tao Northeastern University State Key Laboratory of Synthetical Automation for Process Industries Shenyang110819 China Ministry of Education Shanghai Institute of Intelligent Science and Technology National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems Shanghai201210 China Southeast University School of Automation Nanjing210096 China University of Groningen Engineering and Technology Institute Groningen Faculty of Science and Engineering GroningenAG 9747 Netherlands KTH Royal Institute of Technology Division of Decision and Control Systems School of Electrical Engineering and Computer Science Stockholm10044 Sweden KTH Royal Institute of Technology Digital Futures Stockholm10044 Sweden

This paper considers the distributed bandit convex optimization problem with time-varying inequality constraints over a network of agents, where the goal is to minimize network regret and cumulative constraint violation. Existing distributed online algorithms solving this problem require that each agent broadcasts its decision to its neighbors at each iteration. However, communication resources are often limited. To better utilize communication resources, we propose a distributed event-triggered online primal-dual algorithm with two-point bandit feedback. Under several classes of appropriately chosen decreasing parameter sequences and non-increasing event-triggered threshold sequences, we establish dynamic network regret and network cumulative constraint violation bounds. These bounds are comparable to the results achieved by distributed event-triggered online algorithms with full-information feedback. Finally, a numerical example is provided to verify the theoretical results. © 2014 IEEE.

关键词： Optimization algorithms

Estimating the Sensitivity of Microoptoelectromechanical Micro-g Accelerometer

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Estimating the Sensitivity of Microoptoelectromechanical Mic...

Annual Siberian Russian Workshop on Electron Devices and Materials (EDM)

作者： Evgenij S. Barbin Tamara G. Nesterenko Aleksej N. Koleda Evgeniy V. Shesterikov Ivan V. Kulinich Fedor I. Sheyerman Laboratory of Radiophotonics The Tomsk State University of Control Systems and Radioelectronics Tomsk Russia Laboratory of Intelligent Computer Systems Institute of Optics and Atmosphere Siberian Branch of the Russian Academy of Sciences Tomsk Russia Division for Electronic Engineering National Research Tomsk Polytechnic University Tomsk Russia

ISBN: (数字)9781665498043

ISBN: (纸本)9781665498050

The article studies a MOEMS-accelerometer with an optical measuring element based on an optical tunneling effect intended for measuring micro-g accelerations. The work estimates the sensitivity threshold of the accelerometer based on the Noise Equivalent Acceleration, which is stipulated by thermal Brownian motion of molecules, noises of a laser and photodiode. Shot noise has the largest effect on the MOEMS-accelerometer noise threshold and depends on its mechanical properties. The general sensitivity of the MOEMS-accelerometer equals 0.938, 3, or 6.255 A/g, depending on a chosen operational point. The sensitivity threshold in terms of photodiode dark current equals $107 \times 10^{-9} \mathrm{g}, 33.3 \times 10^{-9} \mathrm{g}$, $16 \times 10^{-9} \mathrm{g}$. The dynamic range for the photodiode equals $\pm 3.2 \times 10^{-3} \mathrm{g}$, while for the measuring transducer it is ±0.32g, ±0.1, or ±0.05g. To decrease the noise down to $0.1 \mu \mathrm{g}$, the inertial mass should amount at least to $65 \times 10^{-7} \mathrm{kg}$, and the average laser noise power should be below 1 %.

关键词： Accelerometers Sensitivity Laser noise Resonant frequency Optical variables measurement Dynamic range Tunneling

Simultaneously Calibration of Multi Hand-Eye Robot System Based on Graph

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arXiv 2023年

作者： Zhou, Zishun Ma, Liping Liu, Xilong Cao, Zhiqiang Yu, Junzhi The Institute of Automation Chinese Academy of Sciences Beijing100190 China The College of Electrical Engineering and Computer Science Australian National University Canberra2601 Australia The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China The School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China The State Key Laboratory for Turbulence and Complex System Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Peking University Beijing100871 China

Precise calibration is the basis for the vision-guided robot system to achieve high-precision operations. Systems with multiple eyes (cameras) and multiple hands (robots) are particularly sensitive to calibration errors, such as micro-assembly systems. Most existing methods focus on the calibration of a single unit of the whole system, such as poses between hand and eye, or between two hands. These methods can be used to determine the relative pose between each unit, but the serialized incremental calibration strategy cannot avoid the problem of error accumulation in a large-scale system. Instead of focusing on a single unit, this paper models the multi-eye and multi-hand system calibration problem as a graph and proposes a method based on the minimum spanning tree and graph optimization. This method can automatically plan the serialized optimal calibration strategy in accordance with the system settings to get coarse calibration results initially. Then, with these initial values, the closed-loop constraints are introduced to carry out global optimization. Simulation experiments demonstrate the performance of the proposed algorithm under different noises and various hand-eye configurations. In addition, experiments on real robot systems are presented to further verify the proposed method. © 2023, CC BY-SA.

关键词： Multipurpose robots

Modeling and Analysis of a Coupled SIS Bi-Virus Model

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arXiv 2022年

作者： Gracy, Sebin Paré, Philip E. Liu, Ji Sandberg, Henrik Beck, Carolyn L. Johansson, Karl Henrik Başar, Tamer Department of Electrical Engineering and Computer Science South Dakota School of Mines and Technology SD United States School of Electrical and Computer Engineering Purdue University IN United States Department of Electrical and Computer Engineering Stony Brook University United States Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology and Digital Futures Stockholm Sweden Coordinated Science Laboratory University of Illinois at Urbana-Champaign United States

The paper deals with the setting where two viruses (say virus 1 and virus 2) coexist in a population, and they are not necessarily mutually exclusive, in the sense that infection due to one virus does not preclude the possibility of simultaneous infection due to the other. We develop a coupled bi-virus susceptible-infected-susceptible (SIS) model from a 4n-state Markov process, where n is the number of agents (i.e., individuals or subpopulation) in the population. We identify a sufficient condition for both viruses to eventually die out, and a sufficient condition for the existence, uniqueness and asymptotic stability of the endemic equilibrium of each virus. We establish a sufficient condition and multiple necessary conditions for local exponential convergence to the boundary equilibrium (i.e., one virus persists, the other one dies out) of each virus. Under mild assumptions on the healing rate, we show that there cannot exist a coexisting equilibrium where for each node there is a nonzero fraction infected only by virus 1;a nonzero fraction infected only by virus 2;but no fraction that is infected by both viruses 1 and 2. Likewise, assuming that healing rates are strictly positive, a coexisting equilibrium where for each node there is a nonzero fraction infected by both viruses 1 and 2, but no fraction is infected only by virus 1 (resp. virus 2) does not exist. Further, we provide a necessary condition for the existence of certain other kinds of coexisting equilibria. We show that, unlike the competitive bivirus model, the coupled bivirus model is not monotone. Finally, we illustrate our theoretical findings using an extensive set of simulations. © 2022, CC0.

关键词： Coronavirus

Multi-Robot System for Autonomous Cooperative Counter-UAS Missions: Design, Integration, and Field Testing

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Multi-Robot System for Autonomous Cooperative Counter-UAS Mi...

IEEE International Workshop on Safety, Security, and Rescue robotics (SSRR)

作者： Antonella Barisic Marlan Ball Noah Jackson Riley McCarthy Nasib Naimi Luca Strässle Jonathan Becker Maurice Brunner Julius Fricke Lovro Markovic Isaac Seslar David Novick Jonathan Salton Roland Siegwart Stjepan Bogdan Rafael Fierro Laboratory for Robotics and Intelligent Control Systems (LAR-ICS) Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Electrical and Computer Engineering Department University of New Mexico Albuquerque NM USA ETH Zurich Autonomous Systems Lab (ASL) Zurich Switzerland Sandia National Laboratories Albuquerque New Mexico USA

ISBN: (纸本)9781665456814

With the rapid development of technology and the proliferation of uncrewed aerial systems (UAS), there is an immediate need for security solutions. Toward this end, we propose the use of a multi-robot system for autonomous and cooperative counter-UAS missions. In this paper, we present the design of the hardware and software components of different complementary robotic platforms: a mobile uncrewed ground vehicle (UGV) equipped with a LiDAR sensor, an uncrewed aerial vehicle (UAV) with a gimbal-mounted stereo camera for air-to-air inspections, and a UAV with a capture mechanism equipped with radars and camera. Our proposed system features 1) scalability to larger areas due to the distributed approach and online processing, 2) long-term cooperative missions, and 3) complementary multimodal perception for the detection of multirotor UAVs. In field experiments, we demonstrate the integration of all subsystems in accomplishing a counter-UAS task within an unstructured environment. The obtained results confirm the promising direction of using multi-robot and multi-modal systems for C-UAS.

关键词： Scalability Robot vision systems Autonomous aerial vehicles Cameras Software Safety Security

Direct LiDAR-Inertial Odometry: Lightweight LIO with Continuous-Time Motion Correction

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arXiv 2022年

作者： Chen, Kenny Nemiroff, Ryan Lopez, Brett T. The Department of Electrical and Computer Engineering University of California Los Angeles Los AngelesCA United States The Department of Mechanical and Aerospace Engineering University of California Los Angeles Los AngelesCA United States The Verifiable and Control-Theoretic Robotics Laboratory University of California Los Angeles Los AngelesCA United States

Aggressive motions from agile flights or traversing irregular terrain induce motion distortion in LiDAR scans that can degrade state estimation and mapping. Some methods exist to mitigate this effect, but they are still too simplistic or computationally costly for resource-constrained mobile robots. To this end, this paper presents Direct LiDAR-Inertial Odometry (DLIO), a lightweight LiDAR-inertial odometry algorithm with a new coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction. The key to our method lies in the construction of a set of analytical equations which are parameterized solely by time, enabling fast and parallelizable point-wise deskewing. This method is feasible only because of the strong convergence properties in our nonlinear geometric observer, which provides provably correct state estimates for initializing the sensitive IMU integration step. Moreover, by simultaneously performing motion correction and prior generation, and by directly registering each scan to the map and bypassing scan-to-scan, DLIO's condensed architecture is nearly 20% more computationally efficient than the current state-of-the-art with a 12% increase in accuracy. We demonstrate DLIO's superior localization accuracy, map quality, and lower computational overhead as compared to four state-of-the-art algorithms through extensive tests using multiple public benchmark and self-collected datasets. Copyright © 2022, The Authors. All rights reserved.

关键词： State estimation

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

IC CLASSIFIER: A CLASSIFIER FOR 3D INDUSTRIAL COMPONENTS BASED ON GEOMETRIC PRIOR USING GNN

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arXiv 2023年

作者： Lin, Zipeng Nie, Zhenguo University of California Berkeley United States Computer Science division UC Berkeley United States Department of Mechanical Engineering Tsinghua University Beijing100084 China State Key Laboratory of Tribology in Advanced Equipment Beijing100084 China Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control Beijing100084 China

In this paper, we propose an approach to address the problem of classifying 3D industrial components by introducing a novel framework named IC-classifier (Industrial Component classifier). Our framework is designed to focus on the object’s local and global structures, emphasizing the former by incorporating specific local features for embedding the model. By utilizing graphical neural networks and embedding derived from geometric properties, IC-classifier facilitates the exploration of the local structures of the object while using geometric attention for the analysis of global structures. Furthermore, the framework uses point clouds to circumvent the heavy computation workload. The proposed framework’s performance is benchmarked against state-of-the-art models, demonstrating its potential to compete in the field. Copyright © 2023, The Authors. All rights reserved.

关键词： Embeddings