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Ellie Pond

Publications and source records attributed to Ellie Pond.

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A Distributed Asynchronous Generalized Momentum Algorithm Without Delay Bounds

Asynchronous optimization algorithms often require delay bounds to prove their convergence, though these bounds can be difficult to obtain in practice. Therefore, we introduce a novel distributed generalized momentum algorithm that provides fast convergence and allows arbitrary finite delays. It subsumes Nesterov's accelerated gradient algorithm and the heavy ball algorithm, among others. We first develop conditions on the parameters of the algorithm that ensure asymptotic convergence. Then we show its convergence rate is linear in a function of the number of computations and communications that processors perform (in a way that we make precise). Simulations compare this algorithm to gradient descent, heavy ball, and Nesterov's accelerated gradient algorithm with a text classification problem on the 20 newsgroups dataset. Across a range of scenarios with unbounded delays, the generalized momentum algorithm converges with at least 36% fewer iterations than gradient descent, 28% fewer iterations than the heavy ball algorithm, and 16% fewer iterations than Nesterov's accelerated gradient algorithm.

math.OC

Verification of High-Order Control Barrier Functions by Computing Class K Functions

High-order control barrier functions (HOCBFs) can enforce system safety, but it must be verified that a system can actually implement a given HOCBF (or collection thereof). We address this need by formulating a sequence of SOS programs that verify HOCBFs by computing class K functions associated with them. We show that if solutions to these SOS programs exist, then a system is guaranteed to remain safe at runtime. Simulations show this approach in practice.

eess.SY

Technical Report: A Totally Asynchronous Nesterov's Accelerated Gradient Method for Convex Optimization

We present a totally asynchronous algorithm for convex optimization that is based on a novel generalization of Nesterov's accelerated gradient method. This algorithm is developed for fast convergence under "total asynchrony," i.e., allowing arbitrarily long delays between agents' computations and communications without assuming any form of delay bound. These conditions may arise, for example, due to jamming by adversaries. Our framework is block-based, in the sense that each agent is only responsible for computing updates to (and communicating the values of) a small subset of the network-level decision variables. In our main result, we present bounds on the algorithm's parameters that guarantee linear convergence to an optimizer. Then, we quantify the relationship between (i) the total number of computations and communications executed by the agents and (ii) the agents' collective distance to an optimum. Numerical simulations show that this algorithm requires 28% fewer iterations than the heavy ball algorithm and 61% fewer iterations than gradient descent under total asynchrony.

math.OC

Fast Verification of Control Barrier Functions via Linear Programming

Control barrier functions are a popular method of ensuring system safety, and these functions can be used to enforce invariance of a set under the dynamics of a system. A control barrier function must have certain properties, and one must both formulate a candidate control barrier function and verify that it does indeed satisfy the required properties. Targeting the latter problem, this paper presents a method of verifying any finite number of candidate control barrier functions with linear programming. We first apply techniques from real algebraic geometry to formulate verification problem statements that are solvable numerically. Typically, semidefinite programming is used to verify candidate control barrier functions, but this does not always scale well. Therefore, we next apply a method of inner-approximating the set of sums of squares polynomials that significantly reduces the computational complexity of these verification problems by transcribing them to linear programs. We give explicit forms for the resulting linear programs, and simulation results for a satellite inspection problem show that the computation time needed for verification can be reduced by more than 95%.

eess.SY