arXiv subjects
Publications and source records attributed to Guanrong Chen.
This article briefly introduces the generalized Lorenz systems family, which includes the classical Lorenz system and the relatively new Chen system as special cases, with infinitely many related but not topologically equivalent chaotic systems in between.
In this article, the time-varying formation tracking control of wheeled mobile robots with region constraint is investigated from a generalized Udwadia-Kalaba framework. The communication network is modeled as a directed and weighted graph that has a spanning tree with the leader being the root. By reformulating the time-varying formation tracking control objective as an equality constrained equation and transforming the region constraint by a diffeomorphism, the time-varying formation tracking controller with the region constraint is designed under the generalized Udwadia-Kalaba framework. Compared with the existing works on time-varying formation tracking control, the region constraint is taken into account in this paper, which ensures the safety of the robots. Finally, the feasibility of the proposed control strategy is illustrated through some numerical simulations.
This paper proposes a Koopman-based framework for modeling, prediction, and control of unknown nonlinear time-varying systems. We present a novel Koopman-based learning method for predicting the state of unknown nonlinear time-varying systems, upon which a robust controller is designed to ensure that the resulting closed-loop system is input-to-state stable with respect to the Koopman approximation error. The error of the lifted system model learned through the Koopman-based method increases over time due to the time-varying nature of the nonlinear time-varying system. To address this issue, an online iterative update scheme is incorporated into the learning process to update the lifted system model, aligning it more precisely with the time-varying nonlinear system by integrating the updated data and discarding the outdated data. A necessary condition for the feasibility of the proposed iterative learning method is derived. In order to reduce unnecessary system updates while ensuring the prediction accuracy of the lifted system, the update mechanism is enhanced to determine whether to update the lifted system and meanwhile to reduce updates that deteriorate the fitting performance. Furthermore, based on the online-updated lifted system, a controller is designed to ensure the closed-loop controlled system be input-to-state stable with respect to the Koopman approximation error. Numerical simulations on the Duffing oscillator, the serial manipulator, and the synthetic biological network system are presented to demonstrate the effectiveness of the proposed method for the approximation and control of unknown nonlinear time-varying systems. The results show that the proposed approach outperforms existing methods in terms of approximation accuracy and computational efficiency, even under significant system variations.
Swarms evolving from collective behaviors among multiple individuals are commonly seen in nature, which enables biological systems to exhibit more efficient and robust collaboration. Creating similar swarm intelligence in engineered robots poses challenges to the design of collaborative algorithms that can be programmed at large scales. The assignment-based method has played an eminent role for a very long time in solving collaboration problems of robot swarms. However, it faces fundamental limitations in terms of efficiency and robustness due to its unscalability to swarm variants. This article presents a tutorial review on recent advances in assignment-free collaboration of robot swarms, focusing on the problem of shape formation. A key theoretical component is the recently developed \emph{mean-shift exploration} strategy, which improves the collaboration efficiency of large-scale swarms by dozens of times. Further, the efficiency improvement is more significant as the swarm scale increases. Finally, this article discusses three important applications of the mean-shift exploration strategy, including precise shape formation, area coverage formation, and maneuvering formation, as well as their corresponding industrial scenarios in smart warehousing, area exploration, and cargo transportation.
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.
Cellular automata are arrays of finite state machines that can exist in a finite number of states. These machines update their states simultaneously based on specific local rules that govern their interactions. This framework provides a simple yet powerful model for studying complex systems and emergent behaviors. We revisit and reconsider the traditional notion of an algorithm, proposing a novel perspective in which algorithms are represented through the dynamic state-space configurations of cellular automata. By doing so, we establish a conceptual framework that connects computation to physical processes in a unique and innovative way. This approach not only enhances our understanding of computation but also paves the way for the future development of unconventional computing devices. Such devices could be engineered to leverage the inherent computational capabilities of physical, chemical, and biological substrates. This opens up new possibilities for designing systems that are more efficient, adaptive, and capable of solving problems in ways that traditional silicon-based computers cannot. The integration of cellular automata into these domains highlights their potential as a transformative tool in the ongoing evolution of computational theory and practice.
The network homology Hk-core decomposition proposed in this article is similar to the k-core decomposition based on node degrees of the network. The C. elegans neural network and the cat cortical network are used as examples to reveal the symmetry of the deep structures of such networks. First, based on the concept of neighborhood in mathematics, some new concepts are introduced, including such as node-neighbor subnetwork and Betti numbers of the neighbor subnetwork, among others. Then, the Betti numbers of the neighbor subnetwork of each node are computed, which are used to perform Hk-core decomposition of the network homology. The construction process is as follows: the initial network is referred to as the H0-core; the H1-core is obtained from the H0-core by deleting some nodes of certain properties; the H2-core is obtained from the H1-core by deleting some nodes or edges of certain properties; the H3-core is obtained from the H2-core by deleting some nodes of certain properties or by retaining the nodes of certain properties, and so on, which will be described in detail in the main text. Throughout the process, the index of node involved in deleting edge needs to be updated in every step. The Hk-core decomposition is easy to implement in parallel. It has a wide range of applications in many fields such as network science, data science, computational topology, and artificial intelligence. In this article, we also show how to use it to simplify homology calculation, e.g. for the C. elegans neural network, whereas the results of decomposition are the H1-core, the H2-core, and the H3-core. Thus, the simplexes consisting of four highest-order cavities in the H3-core subnetwork can also be directly obtained.
Understanding the underlying graph structure of a nonlinear map over a particular domain is essential in evaluating its potential for real applications. In this paper, we investigate the structure of the associated \textit{functional graph} of Chebyshev permutation polynomials over a ring $\mathbb{Z}_{p^k}$, with $p$ being a prime number greater than three, where every number in the ring is considered as a vertex and the existing mapping relation between two vertices is regarded as a directed edge. Based on some new properties of Chebyshev polynomials and their derivatives, we disclose how the basic structure of the functional graph evolves with respect to parameter $k$. First, we present a complete and explicit form of the length of a path starting from any given vertex. Then, we show that the strong patterns of the functional graph that the number of cycles of any given length always remains constant as $k$ increases. Moreover, we rigorously prove the rules on the elegant structure of the functional graph and verify them experimentally. Our results could be useful for studying the emergence of the complexity of a nonlinear map in digital computers and security analysis of its cryptographic applications.
This paper investigates data-driven cooperative output regulation for continuous-time multi-agent systems with unknown network topology. Unlike existing studies that typically assume a known network topology to directly compute controller parameters, a novel approach is proposed that allows for the computation of the parameter without prior knowledge of the topology. A lower bound on the minimum non-zero eigenvalue of the Laplacian matrix is estimated using only edge weight bounds, enabling the output regulation controller design to be independent of global network information. Additionally, the common need for state derivative measurements is eliminated, reducing the amount of data requirements. Furthermore, necessary and sufficient conditions are established to ensure that the data are informative for cooperative output regulation, leading to the design of a distributed output regulation controller. For the case with noisy data, the bound of the output error is provided, which is positively correlated with the noise bound, and a distributed controller is constructed for the approximate cooperative output regulation. Finally, the effectiveness of the proposed methods is verified through numerical simulations.
The issue of opinion sharing and formation has received considerable attention in the academic literature, and a few models have been proposed to study this problem. However, existing models are limited to the interactions among nearest neighbors, ignoring those second, third, and higher-order neighbors, despite the fact that higher-order interactions occur frequently in real social networks. In this paper, we develop a new model for opinion dynamics by incorporating long-range interactions based on higher-order random walks. We prove that the model converges to a fixed opinion vector, which may differ greatly from those models without higher-order interactions. Since direct computation of the equilibrium opinion is computationally expensive, which involves the operations of huge-scale matrix multiplication and inversion, we design a theoretically convergence-guaranteed estimation algorithm that approximates the equilibrium opinion vector nearly linearly in both space and time with respect to the number of edges in the graph. We conduct extensive experiments on various social networks, demonstrating that the new algorithm is both highly efficient and effective.
In this paper we present the results of the AI-Debater 2023 Challenge held by the Chinese Conference on Affect Computing (CCAC 2023), and introduce the related datasets. We organize two tracks to handle the argumentative generation tasks in different scenarios, namely, Counter-Argument Generation (Track 1) and Claim-based Argument Generation (Track 2). Each track is equipped with its distinct dataset and baseline model respectively. In total, 32 competing teams register for the challenge, from which we received 11 successful submissions. In this paper, we will present the results of the challenge and a summary of the systems, highlighting commonalities and innovations among participating systems. Datasets and baseline models of the AI-Debater 2023 Challenge have been already released and can be accessed through the official website of the challenge.
This paper addresses the problem of distributed online generalized Nash equilibrium (GNE) learning for multi-cluster games with delayed feedback information. Specifically, each agent in the game is assumed to be informed a sequence of local cost functions and constraint functions, which are known to the agent with time-varying delays subsequent to decision-making at each round. The objective of each agent within a cluster is to collaboratively optimize the cluster's cost function, subject to time-varying coupled inequality constraints and local feasible set constraints over time. Additionally, it is assumed that each agent is required to estimate the decisions of all other agents through interactions with its neighbors, rather than directly accessing the decisions of all agents, i.e., each agent needs to make decision under partial-decision information. To solve such a challenging problem, a novel distributed online delay-tolerant GNE learning algorithm is developed based upon the primal-dual algorithm with an aggregation gradient mechanism. The system-wise regret and the constraint violation are formulated to measure the performance of the algorithm, demonstrating sublinear growth with respect to time under certain conditions. Finally, numerical results are presented to verify the effectiveness of the proposed algorithm.
In this paper, the Parameter Switching (PS) algorithm is used to approximate numerically attractors of a Hopfield Neural Network (HNN) system. The PS algorithm is a convergent scheme designed for approximating attractors of an autonomous nonlinear system, depending linearly on a real parameter. Aided by the PS algorithm, it is shown that every attractor of the HNN system can be expressed as a convex combination of other attractors. The HNN system can easily be written in the form of a linear parameter dependence system, to which the PS algorithm can be applied. This work suggests the possibility to use the PS algorithm as a control-like or anticontrol-like method for chaos.
Uncovering higher-order spatiotemporal dependencies within human mobility networks offers valuable insights into the analysis of urban structures. In most existing studies, human mobility networks are typically constructed by aggregating all trips without distinguishing who takes which specific trip. Instead, we claim individual mobility motifs, higher-order structures generated by daily trips of people, as fundamental units of human mobility networks. In this paper, we propose two network construction frameworks at the level of mobility motifs in characterizing regional importance in cities. Firstly, we enhance the structural dependencies within mobility motifs and proceed to construct mobility networks based on the enhanced mobility motifs. Secondly, taking inspiration from PageRank, we speculate that people would allocate values of importance to destinations according to their trip intentions. A motif-wise network construction framework is proposed based on the established mechanism. Leveraging large-scale metro data across cities, we construct three types of human mobility networks and characterize the regional importance by node importance indicators. Our comparison results suggest that the motif-based mobility network outperforms the classic mobility network, thus highlighting the efficacy of the introduced human mobility motifs. Finally, we demonstrate that the performance in characterizing the regional importance is significantly improved by our motif-wise framework.
Topological data analysis can extract effective information from higher-dimensional data. Its mathematical basis is persistent homology. The persistent homology can calculate topological features at different spatiotemporal scales of the dataset; that is, establishing the integrated taxonomic relation among points, lines and simplices. Here, the simplicial network composed of all-order simplices in a simplicial complex is essential. Because the sequence of nested simplicial subnetworks can be regarded as a discrete Morse function from the simplicial network to real values, a method based on the concept of critical simplices can be developed by searching all-order spanning trees. Employing this new method, not only the Morse function values with the theoretical minimum number of critical simplices can be obtained, but also the Betti numbers and composition of all-order cavities in the simplicial network can be calculated quickly. Finally, this method is used to analyze some examples and compared with other methods, showing its effectiveness and feasibility.
Blockchain technology is a breakthrough in changing the ways of business and organization operations, in which the consensus problem is challenging with practical constraints, such as computational power and consensus standard. In this paper, a novel consensus mechanism named Proof-of-Prospect-Theory (PoPT) is designed from the view of game theory, where the game prospect value is considered as an important election criterion of the block-recorder. PoPT portrays the popularity of a node in the network as an attribute, which is constituted by the subjective sensibilities of nodes. Furthermore, the performances of the PoPT and the willingness of ordinary nodes to participate in the consensus are analyzed, exploring fairness, decentralization, credibility, and the motivating ability of the consensus mechanism. Finally, numerical simulations with optimization of the PoPT consensus mechanism are demonstrated in the scenario of a smart grid system to illustrate the effectiveness of the PoPT.
This paper addresses the robustness of a network to sustain its connectivity and controllability against malicious attacks. This kind of network robustness is typically measured by the time-consuming attack simulation, which returns a sequence of values that record the remaining connectivity and controllability after a sequence of node- or edge-removal attacks. For improvement, this paper develops an efficient framework for network robustness prediction, the spatial pyramid pooling convolutional neural network (SPP-CNN). The new framework installs a spatial pyramid pooling layer between the convolutional and fully-connected layers, overcoming the common mismatch issue in the CNN-based prediction approaches and extending its generalizability. Extensive experiments are carried out by comparing SPP-CNN with three state-of-the-art robustness predictors, namely a CNN-based and two graph neural networks-based frameworks. Synthetic and real-world networks, both directed and undirected, are investigated. Experimental results demonstrate that the proposed SPP-CNN achieves better prediction performances and better generalizability to unknown datasets, with significantly lower time-consumption, than its counterparts.
In the semi-supervised setting where labeled data are largely limited, it remains to be a big challenge for message passing based graph neural networks (GNNs) to learn feature representations for the nodes with the same class label that is distributed discontinuously over the graph. To resolve the discontinuous information transmission problem, we propose a control principle to supervise representation learning by leveraging the prototypes (i.e., class centers) of labeled data. Treating graph learning as a discrete dynamic process and the prototypes of labeled data as "desired" class representations, we borrow the pinning control idea from automatic control theory to design learning feedback controllers for the feature learning process, attempting to minimize the differences between message passing derived features and the class prototypes in every round so as to generate class-relevant features. Specifically, we equip every node with an optimal controller in each round through learning the matching relationships between nodes and the class prototypes, enabling nodes to rectify the aggregated information from incompatible neighbors in a graph with strong heterophily. Our experiments demonstrate that the proposed PCGCN model achieves better performances than deep GNNs and other competitive heterophily-oriented methods, especially when the graph has very few labels and strong heterophily.