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Guanghui Wen

Publications and source records attributed to Guanghui Wen.

At least 19 recordsLinked to original sources

Decentralized Nonconvex Composite Federated Learning with Gradient Tracking and Momentum

Decentralized Federated Learning (DFL) enables collaborative model training without relying on a central server. When local objectives are nonconvex and coupled with nonsmooth weakly convex regularization, DFL gives rise to a challenging decentralized nonconvex composite optimization problem involving data heterogeneity, stochastic-gradient noise, and consensus error. We propose DEPOSITUM, a decentralized composite optimization algorithm for this problem. DEPOSITUM maintains momentum-filtered stochastic gradient estimates via a tracking mechanism, which accommodates both Polyak and Nesterov momentum. It further allows multiple local updates between communication rounds to improve communication efficiency. Theoretical analysis demonstrates that it achieves an expected $ε$-stationary point with an iteration complexity of $\mathcal{O}(1/ε^2)$ without imposing bounded gradient heterogeneity or mean-squared smoothness assumptions. With an appropriate stepsize and momentum schedule, the averaged stationarity measure further achieves a rate of \(\mathcal{O}(1/\sqrt{nT})\) after a network-dependent transient, using a mini-batch size independent of $T$. Experiments on different benchmark datasets validate the effectiveness of DEPOSITUM and demonstrate competitive performance against representative federated composite optimization methods.

cs.LG

Normalizing Flow-Enhanced Message Passing for Multirobot Collaborative Localization

Accurate, robust, and adaptive localization is essential for various robotic operations. This paper proposes a new message passing (MP) algorithm for realizing collaborative localization in a distributed manner. The algorithm unifies Gaussian belief propagation (GBP) and mean-field (MF) approximation, where GBP preserves dependencies among robot states, and MF enables estimation of noise statistics. To effectively handle non-conjugate terms from nonlinear measurement models, the algorithm adopts a parametric formulation in which these terms are treated by gradient estimators. Beyond linearization and sampling, we further design a normalizing flow (NF)-based gradient estimator, enabling learnable sampling. End-to-end training tunes NF parameters according to the behavior of MP, improving the overall estimation performance. To support estimation of practical robotic states that involve rotations, the method is then extended to Lie group state spaces. Finally, the method is applied to multirobot localization task fusing odometry, global navigation satellite system (GNSS) measurements, and inter-robot ultra wideband (UWB) ranging. Simulations and experiments on autonomous surface vehicles (ASVs) demonstrate its improved accuracy, robustness, and adaptability.

cs.RO

Distributed Seeking for Fixed Points of Biased Stochastic Operators: A Communication-Efficient Approach

This paper investigates the distributed fixed point seeking problem of sum-separable stochastic operators over the multi-agent network. Based on inexact Krasnosel'ski\uı--Mann iterations, the communication-efficient distributed algorithm is proposed under the relaxed growth bias and variance conditions, generalizing traditional unbiased and bounded additive variance assumptions. To enhance communication efficiency, we integrate communication compression and dynamic period skipping techniques, particularly adopting a unified compressor that allows both relative and absolute compression errors. By introducing a surrogate function for general non-contractive and contractive operators, we establish convergence guarantees of the distributed fixed point iteration, achieving among the first theoretical unifications with distributed non-convex optimization algorithms. Finally, numerical simulations validate the effectiveness of the theoretical results.

math.OC

Melding LLM and temporal logic for reliable human-swarm collaboration in complex scenarios

Robot swarms promise scalable assistance in complex and hazardous environments. Task planning lies at the core of human-swarm collaboration, translating the operator's intent into coordinated swarm actions and helping determine when validation or intervention is required during execution. In long-horizon missions under dynamic scenarios, however, reliable task planning becomes difficult to maintain: emerging events and changing conditions demand continual adaptation, and sustained operator oversight imposes substantial cognitive burden. Existing LLM-based planning tools can support plan generation, yet they remain susceptible to invalid task orderings and infeasible robot actions, resulting in frequent manual adjustment. Here we introduce a neuro-symbolic framework for long-horizon human-swarm collaboration that tightly melds verifiable task planning with context-grounded LLM reasoning. We formalize mission goals and operational rules as temporal logic formulas and admissible task orderings as task automata. Conditioned on these formal constraints and live perceptual context, LLMs generate executable subtask sequences that satisfy mission rules and remain grounded in the current scene. An uncertainty-aware scheduler then assigns subtasks across the heterogeneous swarm to maximize parallelisms while remaining resilient to disruptions. An event-triggered interaction protocol further limits operator involvement to sparse, high-level confirmation and guidance. Deployment on a heterogeneous robotic fleet yields similar results while remaining robust to hardware-specific actuation and communication uncertainties. Together, these results support a formal and scalable paradigm for reliable and low-overhead human-swarm collaboration in dynamic environments

cs.RO

A Network Transformation Mapping Approach to Synchronization of Multi-Agent Systems With Disconnected Switching Topologies

This paper focuses on the multi-agent synchronization problem with an open-loop unstable leader and followers under the switching topologies. For this issue, the typical approach is intermittent communication (including a spanning tree intermittently) or fast switching strategy. We here consider a more general scenario where each communication link between two agents is randomly disconnected and reconnected, and the durations of both the disconnected intervals and the connected intervals follow negative exponential distributions. To handle this issue, we propose a network transformation mapping method that divides the communication network into reachable and unreachable parts at any time. A node can access the leader's information and synchronize only when it lies in the reachable part; otherwise, it cannot. For each node, the synchronization speed is designed such that its convergence amplitude in the reachable part exceeds its divergence amplitude in the unreachable part. Hence, all nodes achieve asymptotic synchronization over the entire time domain. We further develop adaptive strategies for coupling gains to reduce the computational complexity introduced by the network transformation mapping. The proposed method is also applicable to jointly connected switching topologies and distributed observers under topologies that lack a spanning tree at any time. Finally, two numerical simulations -- synchronous control of multi-one-link manipulator systems and multi-motor systems based on Fieldbus -- are provided to demonstrate the effectiveness of our approach.

math.DS

V-STC: A Time-Efficient Multi-Vehicle Coordinated Trajectory Planning Approach

Coordinating the motions of multiple autonomous vehicles (AVs) requires planning frameworks that ensure safety while making efficient use of space and time. This paper presents a new approach, termed variable-time-step spatio-temporal corridor (V-STC), that enhances the temporal efficiency of multi-vehicle coordination. An optimization model is formulated to construct a V-STC for each AV, in which both the spatial configuration of the corridor cubes and their time durations are treated as decision variables. By allowing the corridor's spatial position and time step to vary, the constructed V-STC reduces the overall temporal occupancy of each AV while maintaining collision-free separation in the spatio-temporal domain. Based on the generated V-STC, a dynamically feasible trajectory is then planned independently for each AV. Simulation studies demonstrate that the proposed method achieves safe multi-vehicle coordination and yields more time-efficient motion compared with existing STC approaches.

cs.RO

Data-Driven Moving Horizon Estimators for Linear Systems with Sample Complexity Analysis

This paper investigates the state estimation problem for linear systems subject to Gaussian noise, where the model parameters are unknown. By formulating and solving an optimization problem that incorporates both offline and online system data, a novel data-driven moving horizon estimator (DDMHE) is designed. We prove that the expected 2-norm of the estimation error of the proposed DDMHE is ultimately bounded. Further, we establish an explicit relationship between the system noise covariances and the estimation error of the proposed DDMHE. Moreover, through a sample complexity analysis, we show how the length of the offline data affects the estimation error of the proposed DDMHE. We also quantify the performance gap between the proposed DDMHE using noisy data and the traditional moving horizon estimator with known system matrices. Finally, the theoretical results are validated through numerical simulations.

eess.SY

Towards provable probabilistic safety for scalable embodied AI systems

Embodied AI systems, comprising AI models and physical plants, are increasingly prevalent across various applications. Due to the rarity of system failures, ensuring their safety in complex operating environments remains a major challenge, which severely hinders their large-scale deployment in safety-critical domains, such as autonomous vehicles, medical devices, and robotics. While achieving provable deterministic safety-verifying system safety across all possible scenarios-remains theoretically ideal, the rarity and complexity of corner cases make this approach impractical for scalable embodied AI systems. Instead, empirical safety evaluation is employed as an alternative, but the absence of provable guarantees imposes significant limitations. To address these issues, we argue for a paradigm shift to provable probabilistic safety that integrates provable guarantees with progressive achievement toward a probabilistic safety boundary on overall system performance. The new paradigm better leverages statistical methods to enhance feasibility and scalability, and a well-defined probabilistic safety boundary enables embodied AI systems to be deployed at scale. In this Perspective, we outline a roadmap for provable probabilistic safety, along with corresponding challenges and potential solutions. By bridging the gap between theoretical safety assurance and practical deployment, this Perspective offers a pathway toward safer, large-scale adoption of embodied AI systems in safety-critical applications.

eess.SY

Distributed State Estimation for Discrete-Time Linear Systems over Directed Graphs: A Measurement Perspective

This paper proposes a novel consensus-based distributed filter over directed graphs under the collectively observability condition. The distributed filter is designed using an augmented leader-following information fusion strategy, and the gain parameter is determined exclusively using local information. Additionally, the lower bound of the fusion step number is derived to ensure that the estimation error covariance remains uniformly upper-bounded. Furthermore, the lower bounds for the convergence rates of the steady-state performance gap between the proposed filter and the centralized filter are provided as the fusion step number approaches infinity. The analysis demonstrates that the convergence rate is at least as fast as exponential convergence, provided the communication topology satisfies the spectral norm condition. Finally, the theoretical results are validated through two simulation examples.

eess.SY

FedCanon: Non-Convex Composite Federated Learning with Efficient Proximal Operation on Heterogeneous Data

Composite federated learning offers a general framework for solving machine learning problems with additional regularization terms. However, existing methods often face significant limitations: many require clients to perform computationally expensive proximal operations, and their performance is frequently vulnerable to data heterogeneity. To overcome these challenges, we propose a novel composite federated learning algorithm called \textbf{FedCanon}, designed to solve the optimization problems comprising a possibly non-convex loss function and a weakly convex, potentially non-smooth regularization term. By decoupling proximal mappings from local updates, FedCanon requires only a single proximal evaluation on the server per iteration, thereby reducing the overall proximal computation cost. Concurrently, it integrates control variables into local updates to mitigate the client drift arising from data heterogeneity. The entire architecture avoids the complex subproblems of primal-dual alternatives. The theoretical analysis provides the first rigorous convergence guarantees for this proximal-skipping framework in the general non-convex setting. It establishes that FedCanon achieves a sublinear convergence rate, and a linear rate under the Polyak-Łojasiewicz condition, without the restrictive bounded heterogeneity assumption. Extensive experiments demonstrate that FedCanon outperforms the state-of-the-art methods in terms of both accuracy and computational efficiency, particularly under heterogeneous data distributions.

cs.LG

Communication-Efficient Distributed Online Nonconvex Optimization with Time-Varying Constraints

This paper considers distributed online nonconvex optimization with time-varying inequality constraints over a network of agents, where the nonconvex local loss and convex local constraint functions can vary arbitrarily across iterations. For a time-varying directed graph, we propose two distributed bandit online primal--dual algorithm with compressed communication to efficiently utilize communication resources in the one-point and two-point bandit feedback settings, respectively. To measure the performance of the proposed algorithms, we use a network regret metric grounded in the first-order optimality condition associated with the variational inequality. We show that the compressed algorithms establish sublinear network regret and cumulative constraint violation bounds. Moreover, the network cumulative constraint violation bounds are reduced under Slater's condition. Finally, a simulation example is presented to validate the theoretical results.

math.OC

FedCure: Mitigating Participation Bias in Semi-Asynchronous Federated Learning with Non-IID Data

While semi-asynchronous federated learning (SAFL) combines the efficiency of synchronous training with the flexibility of asynchronous updates, it inherently suffers from participation bias, which is further exacerbated by non-IID data distributions. More importantly, hierarchical architecture shifts participation from individual clients to client groups, thereby further intensifying this issue. Despite notable advancements in SAFL research, most existing works still focus on conventional cloud-end architectures while largely overlooking the critical impact of non-IID data on scheduling across the cloud-edge-client hierarchy. To tackle these challenges, we propose FedCure, an innovative semi-asynchronous Federated learning framework that leverages coalition construction and participation-aware scheduling to mitigate participation bias with non-IID data. Specifically, FedCure operates through three key rules: (1) a preference rule that optimizes coalition formation by maximizing collective benefits and establishing theoretically stable partitions to reduce non-IID-induced performance degradation; (2) a scheduling rule that integrates the virtual queue technique with Bayesian-estimated coalition dynamics, mitigating efficiency loss while ensuring mean rate stability; and (3) a resource allocation rule that enhances computational efficiency by optimizing client CPU frequencies based on estimated coalition dynamics while satisfying delay requirements. Comprehensive experiments on four real-world datasets demonstrate that FedCure improves accuracy by up to 5.1x compared with four state-of-the-art baselines, while significantly enhancing efficiency with the lowest coefficient of variation 0.0223 for per-round latency and maintaining long-term balance across diverse scenarios.

cs.LG

Nash equilibrium seeking in coalition games for multiple Euler-Lagrange systems: Analysis and application to USV swarm confrontation

This paper addresses a class of Nash equilibrium (NE) seeking problems in coalition games involving both local and coupling constraints for multiple Euler-Lagrange (EL) systems subject to disturbances of unknown bounds. Within each coalition, agents cooperatively minimize a shared cost function while competing against other coalitions. A distributed strategy is proposed to seek the NE under informational constraints, where each agent has access only to its own action, cost function, and constraint parameters. In the proposed distributed NE seeking strategy, adaptive techniques are combined with sign functions to handle model uncertainties and disturbances with unknown bounds in the EL systems. To deal with the Lagrange multipliers associated with local and coupling constraints, primal-dual techniques are integrated with consensus protocols. Additionally, a dynamic average consensus algorithm is employed to estimate the gradient of the coalition cost function, while a leader-following protocol is utilized to estimate the actions of other agents. Under standard convexity and graph-connectivity assumptions, global convergence of the closed-loop EL system to the NE is established. As an illustrative application, a swarm confrontation of unmanned surface vehicles involving formation, encirclement, and interception tasks is modeled within the coalition game framework, and numerical simulations are conducted under this model to validate the theoretical results.

eess.SY

Pseudo-Random TDM-MIMO FMCW Based Millimeter-Wave Sensing and Communication Integration for UAV Swarm

The integrated sensing and communications (ISAC) can achieve the sharing of hardware and spectrum resources, enabling efficient data transmission and environmental sensing. This fusion is particularly important for unmanned aerial vehicle (UAV) swarms, as it enhances the overall performance, flexibility, and efficiency of such systems. To facilitate the collaborative operations among UAVs, this paper proposes an ISAC solution based on the pseudo-random time-division multiplexing (TDM)-multiple input multiple output (MIMO) millimeter-wave (mmWave) frequency modulated continuous wave (FMCW). Specifically, a novel ISAC chirp waveform is proposed to modulate data in both the delay domain and complex amplitude, while also possessing high-precision sensing capabilities. To address challenges in the TDM-MIMO, we utilize the pseudo-random antenna selection and compressed sensing algorithms, ensuring that the maximum unambiguous velocity is not compromised. Moreover, by employing a chirp-division multiple access scheme, we propose an interference-free multiple antenna transmission scheme to achieve dynamic allocation of time-frequency resources and multi-user transmission. Finally, we propose a communication and sensing fusion-based dynamic iterative computation scheme, simultaneously achieving data demodulation and sensing parameter estimation. Simulation results show that the proposed scheme can achieve ISAC under the dynamic flight scenarios of UAVs. Meanwhile, the scheme outperforms the mmWave-LoRadar in communication and sensing performance, yet its sensing performance is slightly lower than that of the traditional FMCW. Under the urban clutter modeling, the scheme still maintains favorable robustness despite a certain degree of performance degradation.

eess.SP

DRAG: Distributed Resource Allocation Games over Multiple Interacting Coalitions

Despite many distributed resource allocation (DRA) algorithms have been reported in literature, it is still unknown how to allocate the resource optimally over multiple interacting coalitions. One major challenge in solving such a problem is that, the relevance of the decision on resource allocation in a coalition to the benefit of others may lead to conflicts of interest among these coalitions. Under this context, a new type of multi-coalition game is formulated in this paper, termed as resource allocation game, where each coalition contains multiple agents that cooperate to maximize the coalition-level benefit while subject to the resource constraint described by a coupled equality. Inspired by techniques such as variable replacement, gradient tracking and leader-following consensus, two new kinds of DRA algorithms are developed respectively for the scenarios where the individual benefit of each agent explicitly depends on the states of itself and some agents in other coalitions, and on the states of all the game participants. It is shown that the proposed algorithms can converge linearly to the Nash equilibrium (NE) of the multi-coalition game while satisfying the resource constraint during the whole NE-seeking process. Finally, the validity of the present allocation algorithms is verified by numerical simulations.

math.OC

Distributed Fractional Bayesian Learning for Adaptive Optimization

This paper considers a distributed adaptive optimization problem, where all agents only have access to their local cost functions with a common unknown parameter, whereas they mean to collaboratively estimate the true parameter and find the optimal solution over a connected network. A general mathematical framework for such a problem has not been studied yet. We aim to provide valuable insights for addressing parameter uncertainty in distributed optimization problems and simultaneously find the optimal solution. Thus, we propose a novel distributed scheme, which utilizes distributed fractional Bayesian learning through weighted averaging on the log-beliefs to update the beliefs of unknown parameter, and distributed gradient descent for renewing the estimation of the optimal solution. Then under suitable assumptions, we prove that all agents' beliefs and decision variables converge almost surely to the true parameter and the optimal solution under the true parameter, respectively. We further establish a sublinear convergence rate for the belief sequence. Finally, numerical experiments are implemented to corroborate the theoretical analysis.

math.OC

A Hybrid Stochastic Gradient Tracking Method for Distributed Online Optimization Over Time-Varying Directed Networks

With the increasing scale and dynamics of data, distributed online optimization has become essential for real-time decision-making in various applications. However, existing algorithms often rely on bounded gradient assumptions and overlook the impact of stochastic gradients, especially in time-varying directed networks. This study proposes a novel Time-Varying Hybrid Stochastic Gradient Tracking algorithm named TV-HSGT, based on hybrid stochastic gradient tracking and variance reduction mechanisms. Specifically, TV-HSGT integrates row-stochastic and column-stochastic communication schemes over time-varying digraphs, eliminating the need for Perron vector estimation or out-degree information. By combining current and recursive stochastic gradients, it effectively reduces gradient variance while accurately tracking global descent directions. Theoretical analysis demonstrates that TV-HSGT can achieve improved bounds on dynamic regret without assuming gradient boundedness. Experimental results on logistic regression tasks confirm the effectiveness of TV-HSGT in dynamic and resource-constrained environments.

cs.LG

Decentralized online stochastic generalized Nash Equilibrium seeking for multi-cluster games: A Byzantine-resilient algorithm

This paper addresses the challenge of solving the generalized Nash Equilibrium seeking problem for decentralized stochastic online multi-cluster games amidst Byzantine agents. During the game process, each honest agent is influenced by both randomness and malicious information propagated by Byzantine agents. Additionally, none of the agents have prior knowledge about the number and identities of Byzantine agents. Furthermore, the stochastic local cost function and coupled global constraint function are only revealed to each agent in hindsight at each round. One major challenge in addressing such an issue is the stringent requirement for each honest agent to effectively mitigate the effect of decision variables of Byzantine agents on its local cost functions. To overcome this challenge, a decentralized Byzantine-resilient algorithm for online stochastic generalized Nash equilibrium (SGNE) seeking is developed, which combines variance reduction, dynamic average consensus, and robust aggregation techniques. Moreover, novel resilient versions of system-wide regret and constraint violation are proposed as metrics for evaluating the performance of the online algorithm. Under certain conditions, it is proven that these resilient metrics grow sublinearly over time in expectation. Numerical simulations are conducted to validate the theoretical findings.

math.OC