arXiv subjects

Brian M. Sadler

Publications and source records attributed to Brian M. Sadler.

66 records · Page 4Linked to original sources

arXiv2019

Directional Communication Enabled by Mobile Parasitic Elements

Mobile communications in complex environments such as mega-cities is a challenging problem that limits the ability to deploy autonomous agents in support of operations. Building on recent progress in low frequency networking that utilizes miniature antennas to provide persistent connectivity among agents, we consider the design and collaborative manipulation of a distributed robotic antenna array to provide directional communications that will enable enhanced networking, interference rejection, and collaborative control. The use of parasitic elements in a Yagi-Uda type array design avoids the need for synchronization and highly accurate position control among the agents. We utilize physics-based simulations to investigate the feasibility of using mobile agents equipped with an excited antenna element along with a set of support nodes having parasitic elements that adaptively configure to enhance radiation in a desired direction. We take into account mobile node pose uncertainty including element position and angular orientation, as well as ground scattering effects. We pursue an optimal design approach for different types of ground electromagnetic characteristics based on a hybrid full-wave propagation simulation and genetic algorithm optimization. We also present experiment with one mobile node and two static elements. The results demonstrate the ability to achieve directional low frequency communications that is robust to robotic pose error.

eess.SP↗

arXiv2019

Testing the Structure of a Gaussian Graphical Model with Reduced Transmissions in a Distributed Setting

Testing a covariance matrix following a Gaussian graphical model (GGM) is considered in this paper based on observations made at a set of distributed sensors grouped into clusters. Ordered transmissions are proposed to achieve the same Bayes risk as the optimum centralized energy unconstrained approach but with fewer transmissions and a completely distributed approach. In this approach, we represent the Bayes optimum test statistic as a sum of local test statistics which can be calculated by only utilizing the observations available at one cluster. We select one sensor to be the cluster head (CH) to collect and summarize the observed data in each cluster and intercluster communications are assumed to be inexpensive. The CHs with more informative observations transmit their data to the fusion center (FC) first. By halting before all transmissions have taken place, transmissions can be saved without performance loss. It is shown that this ordering approach can guarantee a lower bound on the average number of transmissions saved for any given GGM and the lower bound can approach approximately half the number of clusters when the minimum eigenvalue of the covariance matrix under the alternative hypothesis in each cluster becomes sufficiently large.

eess.SP↗

arXiv2019

Decentralized Dictionary Learning Over Time-Varying Digraphs

This paper studies Dictionary Learning problems wherein the learning task is distributed over a multi-agent network, modeled as a time-varying directed graph. This formulation is relevant, for instance, in Big Data scenarios where massive amounts of data are collected/stored in different locations (e.g., sensors, clouds) and aggregating and/or processing all data in a fusion center might be inefficient or unfeasible, due to resource limitations, communication overheads or privacy issues. We develop a unified decentralized algorithmic framework for this class of nonconvex problems, which is proved to converge to stationary solutions at a sublinear rate. The new method hinges on Successive Convex Approximation techniques, coupled with a decentralized tracking mechanism aiming at locally estimating the gradient of the smooth part of the sum-utility. To the best of our knowledge, this is the first provably convergent decentralized algorithm for Dictionary Learning and, more generally, bi-convex problems over (time-varying) (di)graphs.

math.OC↗

arXiv2017

Unequal Error Protection Querying Policies for the Noisy 20 Questions Problem

In this paper, we propose an open-loop unequal-error-protection querying policy based on superposition coding for the noisy 20 questions problem. In this problem, a player wishes to successively refine an estimate of the value of a continuous random variable by posing binary queries and receiving noisy responses. When the queries are designed non-adaptively as a single block and the noisy responses are modeled as the output of a binary symmetric channel the 20 questions problem can be mapped to an equivalent problem of channel coding with unequal error protection (UEP). A new non-adaptive querying strategy based on UEP superposition coding is introduced whose estimation error decreases with an exponential rate of convergence that is significantly better than that of the UEP repetition coding introduced by Variani et al. (2015). With the proposed querying strategy, the rate of exponential decrease in the number of queries matches the rate of a closed-loop adaptive scheme where queries are sequentially designed with the benefit of feedback. Furthermore, the achievable error exponent is significantly better than that of random block codes employing equal error protection.

cs.IT↗

arXiv2017

Bounds on Variance for Unimodal Distributions

We show a direct relationship between the variance and the differential entropy for subclasses of symmetric and asymmetric unimodal distributions by providing an upper bound on variance in terms of entropy power. Combining this bound with the well-known entropy power lower bound on variance, we prove that the variance of the appropriate subclasses of unimodal distributions can be bounded below and above by the scaled entropy power. As differential entropy decreases, the variance is sandwiched between two exponentially decreasing functions in the differential entropy. This establishes that for the subclasses of unimodal distributions, the differential entropy can be used as a surrogate for concentration of the distribution.

cs.IT↗

arXiv2017

Graph Filters and the Z-Laplacian

In network science, the interplay between dynamical processes and the underlying topologies of complex systems has led to a diverse family of models with different interpretations. In graph signal processing, this is manifested in the form of different graph shifts and their induced algebraic systems. In this paper, we propose the unifying Z-Laplacian framework, whose instances can act as graph shift operators. As a generalization of the traditional graph Laplacian, the Z-Laplacian spans the space of all possible Z-matrices, i.e., real square matrices with nonpositive off-diagonal entries. We show that the Z-Laplacian can model general continuous-time dynamical processes, including information flows and epidemic spreading on a given graph. It is also closely related to general nonnegative graph filters in the discrete time domain. We showcase its flexibility by considering two applications. First, we consider a wireless communications networking problem modeled with a graph, where the framework can be applied to model the effects of the underlying communications protocol and traffic. Second, we examine a structural brain network from the perspective of low- to high-frequency connectivity.

cs.SI↗

arXiv2016

Proximity Without Consensus in Online Multi-Agent Optimization

We consider stochastic optimization problems in multi-agent settings, where a network of agents aims to learn parameters which are optimal in terms of a global objective, while giving preference to locally observed streaming information. To do so, we depart from the canonical decentralized optimization framework where agreement constraints are enforced, and instead formulate a problem where each agent minimizes a global objective while enforcing network proximity constraints. This formulation includes online consensus optimization as a special case, but allows for the more general hypothesis that there is data heterogeneity across the network. To solve this problem, we propose using a stochastic saddle point algorithm inspired by Arrow and Hurwicz. This method yields a decentralized algorithm for processing observations sequentially received at each node of the network. Using Lagrange multipliers to penalize the discrepancy between them, only neighboring nodes exchange model information. We establish that under a constant step-size regime the time-average suboptimality and constraint violation are contained in a neighborhood whose radius vanishes with increasing number of iterations. As a consequence, we prove that the time-average primal vectors converge to the optimal objective while satisfying the network proximity constraints. We apply this method to the problem of sequentially estimating a correlated random field in a sensor network, as well as an online source localization problem, both of which demonstrate the empirical validity of the aforementioned convergence results.

cs.MA↗

arXiv2015

Trading Safety Versus Performance: Rapid Deployment of Robotic Swarms with Robust Performance Constraints

In this paper we consider a stochastic deployment problem, where a robotic swarm is tasked with the objective of positioning at least one robot at each of a set of pre-assigned targets while meeting a temporal deadline. Travel times and failure rates are stochastic but related, inasmuch as failure rates increase with speed. To maximize chances of success while meeting the deadline, a control strategy has therefore to balance safety and performance. Our approach is to cast the problem within the theory of constrained Markov Decision Processes, whereby we seek to compute policies that maximize the probability of successful deployment while ensuring that the expected duration of the task is bounded by a given deadline. To account for uncertainties in the problem parameters, we consider a robust formulation and we propose efficient solution algorithms, which are of independent interest. Numerical experiments confirming our theoretical results are presented and discussed.

cs.RO↗

arXiv2015

On Decentralized Estimation with Active Queries

We consider the problem of decentralized 20 questions with noise for multiple players/agents under the minimum entropy criterion in the setting of stochastic search over a parameter space, with application to target localization. We propose decentralized extensions of the active query-based stochastic search strategy that combines elements from the 20 questions approach and social learning. We prove convergence to correct consensus on the value of the parameter. This framework provides a flexible and tractable mathematical model for decentralized parameter estimation systems based on active querying. We illustrate the effectiveness and robustness of the proposed decentralized collaborative 20 questions algorithm for random network topologies with information sharing.

cs.MA↗

arXiv2014

Collaborative 20 Questions for Target Localization

We consider the problem of 20 questions with noise for multiple players under the minimum entropy criterion in the setting of stochastic search, with application to target localization. Each player yields a noisy response to a binary query governed by a certain error probability. First, we propose a sequential policy for constructing questions that queries each player in sequence and refines the posterior of the target location. Second, we consider a joint policy that asks all players questions in parallel at each time instant and characterize the structure of the optimal policy for constructing the sequence of questions. This generalizes the single player probabilistic bisection method for stochastic search problems. Third, we prove an equivalence between the two schemes showing that, despite the fact that the sequential scheme has access to a more refined filtration, the joint scheme performs just as well on average. Fourth, we establish convergence rates of the mean-square error (MSE) and derive error exponents. Lastly, we obtain an extension to the case of unknown error probabilities. This framework provides a mathematical model for incorporating a human in the loop for active machine learning systems.

cs.IT↗

arXiv2008

Cognitive Coexistence between Infrastructure and Ad-hoc Systems

The rapid proliferation of wireless systems makes interference management more and more important. This paper presents a novel cognitive coexistence framework, which enables an infrastructure system to reduce interference to ad-hoc or peer-to-peer communication links in close proximity. Motivated by the superior resources of the infrastructure system, we study how its centralized resource allocation can accommodate the ad-hoc links based on sensing and predicting their interference patterns. Based on an ON/OFF continuous-time Markov chain model, the optimal allocation of power and transmission time is formulated as a convex optimization problem and closed-form solutions are derived. The optimal scheduling is extended to the case where the infrastructure channel is random and rate constraints need only be met in the long-term average. Finally, the multi-terminal case is addressed and the problem of optimal sub-channel allocation discussed. Numerical performance analysis illustrates that utilizing the superior flexibility of the infrastructure links can effectively mitigate interference.

cs.IT↗

arXiv2006

Dynamic Spectrum Access: Signal Processing, Networking, and Regulatory Policy

In this article, we first provide a taxonomy of dynamic spectrum access. We then focus on opportunistic spectrum access, the overlay approach under the hierarchical access model of dynamic spectrum access. we aim to provide an overview of challenges and recent developments in both technological and regulatory aspects of opportunistic spectrum access.

cs.NI↗