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P. R. Kumar

Publications and source records attributed to P. R. Kumar.

At least 55 records · Page 3Linked to original sources
arXiv2019

Stay With Me: Lifetime Maximization Through Heteroscedastic Linear Bandits With Reneging

Sequential decision making for lifetime maximization is a critical problem in many real-world applications, such as medical treatment and portfolio selection. In these applications, a "reneging" phenomenon, where participants may disengage from future interactions after observing an unsatisfiable outcome, is rather prevalent. To address the above issue, this paper proposes a model of heteroscedastic linear bandits with reneging, which allows each participant to have a distinct "satisfaction level," with any interaction outcome falling short of that level resulting in that participant reneging. Moreover, it allows the variance of the outcome to be context-dependent. Based on this model, we develop a UCB-type policy, namely HR-UCB, and prove that it achieves $\mathcal{O}\big(\sqrt{{T}(\log({T}))^{3}}\big)$ regret. Finally, we validate the performance of HR-UCB via simulations.

cs.LG↗
arXiv2019

Optimal Control of Thermostatic Loads for Planning Aggregate Consumption: Characterization of Solution and Explicit Strategies

We consider the problem of planning the aggregate energy consumption for a set of thermostatically controlled loads for demand response, accounting price forecast trajectory and thermal comfort constraints. We address this as a continuous-time optimal control problem, and analytically characterize the structure of its solution in the general case. In the special case when the price forecast is monotone and the loads have equal dynamics, we show that it is possible to determine the solution in an explicit form. Taking this fact into account, we handle the non-monotone price case by considering several subproblems, each corresponding to a time subinterval where the price function is monotone, and then allocating to each subinterval a fraction of the total energy budget. This way, for each time subinterval, the problem reduces to a simple convex optimization problem with a scalar decision variable, for which a descent direction is also known. The price forecasts for the day-ahead energy market typically have no more than four monotone segments, so the resulting optimization problem can be solved efficiently with modest computational resources.

math.OC↗
arXiv2019

Optimal Decentralized Dynamic Policies for Video Streaming over Wireless Channels

The problem addressed is that of optimally controlling, in a decentralized fashion, the download of mobile video, which is expected to comprise 75 % of total mobile data traffic by 2020. The server can dynamically choose which packets to download to clients, from among several packets which encode their videos at different resolutions, as well as the power levels of their transmissions. This allows it to control packet delivery probabilities, and thereby, for example, avert imminent video outages at clients. It must however respect the access point's constraints on bandwidth and average transmission power. The goal is to maximize video "Quality of Experience" (QoE), which depends on several factors such as (i) outage duration when the video playback buffer is empty, (ii) number of outage periods, (iii) how many frames downloaded are of lower resolution, (iv) temporal variations in resolution, etc. It is shown that there exists an optimal decentralized solution where the AP announces the price of energy, and each client distributedly and dynamically maximizes its own QoE subject to the cost of energy. A distributed iterative algorithm to solve for optimal decentralized policy is also presented. Further, for the client-level QoE optimization, the optimal choice of video-resolution and power-level of packet transmissions has a simple monotonicity and threshold structure vis-a-vis video playback buffer level. When the number of orthogonal channels is less than the number of clients, there is an index policy for prioritizing packet transmissions. When the AP has to simply choose which clients' packets to transmit, the index policy is asymptotically optimal as the number of channels is scaled up with clients.

cs.NI↗
arXiv2018

Safe Intersection Management for Mixed Transportation Systems with Human-Driven and Autonomous Vehicles

Most recent studies on establishing intersection safety focus on the situation where all vehicles are fully autonomous. However, currently most vehicles are human-driven and so we will need to transition through regimes featuring a varying proportion of human-driven vehicles ranging from 100\% to 0\% before realizing such a fully autonomous future -- if ever. We will, therefore, need to address the safety of hybrid systems featuring an arbitrary mixture of human-driven and autonomous vehicles. In fact, recent incidents involving autonomous vehicles have already highlighted the need to study the safety of autonomous vehicles co-existing with human-driven vehicles. Motivated by this we address the design of provably safe intersection management for mixed traffic consisting of a mix of human-driven vehicles (HVs) as well as autonomous vehicles (AVs). To analyze such mixed traffic, we model HVs as nearsighted and with relatively loose constraints, permitting worst-case behavior while AVs are considered as capable of following much tighter constraints. HVs are allowed freedom to change their speed at any time while AVs are only allowed to change their speed beginning of a time slot through a Model Predictive Controller (MPC). AVs are assumed to possess a shorter response time and stronger braking capability than HVs in collision avoidance. Moreover, AVs obtain the permissions of passing through the intersection through vehicle-to-infrastructure (V2I) communication, while HVs achieve the same objective by following traffic lights. Taking the above differences into consideration, we propose a provably safe intersection management for mixed traffic comprised of an MPC-based protocol for AVs along with a coordination protocol for traffic lights...

eess.SY↗
arXiv2018

Towards Provably Safe Mixed Transportation Systems with Human-driven and Automated Vehicles

Currently, we are in an environment where the fraction of automated vehicles is negligibly small. We anticipate that this fraction will increase in coming decades before if ever, we have a fully automated transportation system. Motivated by this we address the problem of provable safety of mixed traffic consisting of both intelligent vehicles (IVs) as well as human-driven vehicles (HVs). An important issue that arises is that such mixed systems may well have lesser throughput than all human traffic systems if the automated vehicles are expected to remain provably safe with respect to human traffic. This necessitates the consideration of strategies such as platooning of automated vehicles in order to increase the throughput. In this paper, we address the design of provably safe systems consisting of a mix of automated and human-driven vehicles including the use of platooning by automated vehicles. We design motion planing policies and coordination rules for participants in this novel mixed system. HVs are considered as nearsighted and modeled with relatively loose constraints, while IVs are considered as capable of following much tighter constraints. HVs are expected to follow reasonable and simple rules. IVs are designed to move under a model predictive control (MPC) based motion plans and coordination protocols. Our contribution of this paper is in showing how to integrate these two types of models safely into a mixed system. System safety is proved in single lane scenarios, as well as in multi-lane situations allowing lane changes.

eess.SY↗
arXiv2018

Optimal Power Consumption for Demand Response of Thermostatically Controlled Loads

We consider the problem of determining the optimal aggregate power consumption of a population of thermostatically controlled loads. This is motivated by the problem of synthesizing the demand response for a load serving entity (LSE) serving a population of such customers. We show how the LSE can opportunistically design the aggregate reference consumption to minimize its energy procurement cost, given day-ahead price, load and ambient temperature forecasts, while respecting each individual load's comfort range constraints. The resulting synthesis problem is shown to be amenable to optimal control techniques, but computationally difficult otherwise. Numerical simulations elucidate how the LSE can use the optimal aggregate power consumption trajectory thus computed, for the purpose of demand response.

math.OC↗
arXiv2018

An Online Detection Framework for Cyber Attacks on Automatic Generation Control

We propose an online framework to detect cyber attacks on Automatic Generation Control (AGC). A cyber at- tack detection algorithm is designed based on the approach of Dynamic Watermarking. The detection algorithm provides a theoretical guarantee of detection of cyber attacks launched by sophisticated attackers possessing extensive knowledge of the physical and statistical models of targeted power systems. The proposed framework is practically implementable, as it needs no hardware update on generation units. The efficacy of the proposed framework is validated in both four-area system and 140-bus system.

eess.SY↗
arXiv2018

The Trade-off between Privacy and Fidelity via Ehrhart Theory

As an increasing amount of data is gathered nowadays and stored in databases (DBs), the question arises of how to protect the privacy of individual records in a DB even while providing accurate answers to queries on the DB. Differential Privacy (DP) has gained acceptance as a framework to quantify vulnerability of algorithms to privacy breaches. We consider the problem of how to sanitize an entire DB via a DP mechanism, on which unlimited further querying is performed. While protecting privacy, it is important that the sanitized DB still provide accurate responses to queries. The central contribution of this work is to characterize the amount of information preserved in an optimal DP DB sanitizing mechanism (DSM). We precisely characterize the utility-privacy trade-off of mechanisms that sanitize DBs in the asymptotic regime of large DBs. We study this in an information-theoretic framework by modeling a generic distribution on the data, and a measure of fidelity between the histograms of the original and sanitized DBs. We consider the popular $\mathbb{L}_{1}-$distortion metric that leads to the formulation as a linear program (LP). This optimization problem is prohibitive in complexity with the number of constraints growing exponentially in the parameters of the problem. Leveraging tools from discrete geometry, analytic combinatorics, and duality theorems of optimization, we fully characterize the optimal solution in terms of a power series whose coefficients are the number of integer points on a multidimensional convex polytope studied by Ehrhart in 1967. Employing Ehrhart theory, we determine a simple closed form computable expression for the asymptotic growth of the optimal privacy-fidelity trade-off to infinite precision. At the heart of the findings is a deep connection between the minimum expected distortion and the Ehrhart series of an integral convex polytope.

cs.IT↗
arXiv2017

Scenario-based Economic Dispatch with Uncertain Demand Response

This paper introduces a new computational framework to account for uncertainties in day-ahead electricity market clearing process in the presence of demand response providers. A central challenge when dealing with many demand response providers is the uncertainty of its realization. In this paper, a new economic dispatch framework that is based on the recent theoretical development of the scenario approach is introduced. By removing samples from a finite uncertainty set, this approach improves dispatch performance while guaranteeing a quantifiable risk level with respect to the probability of violating the constraints. The theoretical bound on the level of risk is shown to be a function of the number of scenarios removed. This is appealing to the system operator for the following reasons: (1) the improvement of performance comes at the cost of a quantifiable level of violation probability in the constraints; (2) the violation upper bound does not depend on the probability distribution assumption of the uncertainty in demand response. Numerical simulations on (1) 3-bus and (2) IEEE 14-bus system (3) IEEE 118-bus system suggest that this approach could be a promising alternative in future electricity markets with multiple demand response providers.

eess.SP↗
arXiv2017

Throughput Optimal Decentralized Scheduling of Multi-Hop Networks with End-to-End Deadline Constraints: II Wireless Networks with Interference

Consider a multihop wireless network serving multiple flows in which wireless link interference constraints are described by a link interference graph. For such a network, we design routing-scheduling policies that maximize the end-to-end timely throughput of the network. Timely throughput of a flow $f$ is defined as the average rate at which packets of flow $f$ reach their destination node $d_f$ within their deadline. Our policy has several surprising characteristics. Firstly, we show that the optimal routing-scheduling decision for an individual packet that is present at a wireless node $i\in V$ is solely a function of its location, and "age". Thus, a wireless node $i$ does not require the knowledge of the "global" network state in order to maximize the timely throughput. We notice that in comparison, under the backpressure routing policy, a node $i$ requires only the knowledge of its neighbours queue lengths in order to guarantee maximal stability, and hence is decentralized. The key difference arises due to the fact that in our set-up the packets loose their utility once their "age" has crossed their deadline, thus making the task of optimizing timely throughput much more challenging than that of ensuring network stability. Of course, due to this key difference, the decision process involved in maximizing the timely throughput is also much more complex than that involved in ensuring network-wide queue stabilization. In view of this, our results are somewhat surprising.

cs.NI↗
arXiv2017

Near-Optimal Belief Space Planning via T-LQG

We consider the problem of planning under observation and motion uncertainty for nonlinear robotics systems. Determining the optimal solution to this problem, generally formulated as a Partially Observed Markov Decision Process (POMDP), is computationally intractable. We propose a Trajectory-optimized Linear Quadratic Gaussian (T-LQG) approach that leads to quantifiably near-optimal solutions for the POMDP problem. We provide a novel "separation principle" for the design of an optimal nominal open-loop trajectory followed by an optimal feedback control law, which provides a near-optimal feedback control policy for belief space planning problems involving a polynomial order of calculations of minimum order.

cs.RO↗
arXiv2017

A Near-Optimal Separation Principle for Nonlinear Stochastic Systems Arising in Robotic Path Planning and Control

We consider nonlinear stochastic systems that arise in path planning and control of mobile robots. As is typical of almost all nonlinear stochastic systems, the optimally solving problem is intractable. We provide a design approach which yields a tractable design that is quantifiably near-optimal. We exhibit a "separation" principle under a small noise assumption consisting of the optimal open-loop design of nominal trajectory followed by an optimal feedback law to track this trajectory, which is different from the usual effort of separating estimation from control. As a corollary, we obtain a trajectory-optimized linear quadratic regulator design for stochastic nonlinear systems with Gaussian noise.

cs.RO↗
arXiv2017

Throughput-Optimal Scheduling for Multi-Hop Networked Transportation Systems With Switch-Over Delay

The emerging connected-vehicle technology provides a new dimension in developing more intelligent traffic control algorithms for signalized intersections in networked transportation systems. An important challenge for the scheduling problem in networked transportation systems is the switch-over delay caused by the guard time before any traffic signal change. The switch-over delay can result in significant loss of system capacity and hence needs to be accommodated in the scheduling design. To tackle this challenge, we propose a distributed online scheduling policy that extends the well-known Max-Pressure policy to address switch-over delay by introducing a bias factor toward the current schedule. We prove that the proposed policy is throughput-optimal with switch-over delay. Furthermore, the proposed policy remains optimal when there are both connected signalized intersections and conventional fixed-time ones in the system. With connected-vehicle technology, the proposed policy can be easily incorporated into the current transportation systems without additional infrastructure. Through extensive simulation in VISSIM, we show that our policy indeed outperforms the existing popular policies.

cs.NI↗
arXiv2016

Dynamic Adaptive Streaming using Index-Based Learning Algorithms

We provide a unified framework using which we design scalable dynamic adaptive video streaming algorithms based on index based policies (dubbed DAS-IP) to maximize the Quality of Experience (QoE) provided to clients using video streaming services. Due to the distributed nature of our algorithm, it is easily implementable. We begin by considering the simplest set-up of a one-hop wireless network in which an Access Point (AP) transmits video packets to multiple clients over a shared unreliable channel. The video file meant for each client has been fragmented into several packets, and the server maintains multiple copies (each of different quality) of the same video file. Clients maintain individual packet buffers in order to mitigate the effect of uncertainty on video iterruption. Streaming experience, or the Quality of Experience (QoE) of a client depends on several factors: i) starvation/outage probability, i.e., average time duration for which the client does not play video because the buffer is empty, ii) average video quality, iii) average number of starvation periods, iv) temporal variations in video quality etc. We pose the problem of making dynamic streaming decisions in order to maximize the total QoE as a Constrained Markov Decision Process (CMDP). A consideration of the associated dual MDP suggests us that the problem is vastly simplified if the AP is allowed to charge a price per unit bandwidth usage from the clients. More concretely, a "client-by-client" QoE optimization leads to the networkwide QoE maximization, and thus provides us a decentralized streaming algorithm. This enables the clients to themselves decide the optimal streaming choices in each time-slot, and yields us a much desired client-level adaptation algorithm. The optimal policy has an appealing simple threshold structure.

cs.NI↗
arXiv2016

Dynamic Modeling of Price Responsive Demand in Real-time Electricity Market: Empirical Analysis

In this paper, we study the price responsiveness of electricity consumption from empirical commercial and industrial load data obtained from Texas. Employing a dynamical system perspective, we show that price responsive demand can be modeled as a hybrid of a Hammerstein model with delay following a price surge, and a linear ARX model under moderate price changes. It is observed that electricity consumption therefore has unique characteristics including (1) qualitatively distinct response between moderate and extremely high prices; and (2) a time delay associated with the response to high prices. It is shown that these observed features may render traditional approaches to demand response and retail pricing based on classical economic theories ineffective. In particular, ultimate real-time retail pricing may be limitedly beneficial than as considered in classical economic theories.

stat.AP↗
arXiv2016

Architecture and Algorithms for Privacy Preserving Thermal Inertial Load Management by A Load Serving Entity

Motivated by the growing importance of demand response in modern power system's operations, we propose an architecture and supporting algorithms for privacy preserving thermal inertial load management as a service provided by the load serving entity (LSE). We focus on an LSE managing a population of its customers' air conditioners, and propose a contractual model where the LSE guarantees quality of service to each customer in terms of keeping their indoor temperature trajectories within respective bands around the desired individual comfort temperatures. We show how the LSE can price the contracts differentiated by the flexibility embodied by the width of the specified bands. We address architectural questions of (i) how the LSE can strategize its energy procurement based on price and ambient temperature forecasts, (ii) how an LSE can close the real time control loop at the aggregate level while providing individual comfort guarantees to loads, without ever measuring the states of an air conditioner for privacy reasons. Control algorithms to enable our proposed architecture are given, and their efficacy is demonstrated on real data.

eess.SY↗
arXiv2016

Non-Gaussian SLAP: Simultaneous Localization and Planning Under Non-Gaussian Uncertainty in Static and Dynamic Environments

Simultaneous Localization and Planning (SLAP) under process and measurement uncertainties is a challenge. It involves solving a stochastic control problem modeled as a Partially Observed Markov Decision Process (POMDP) in a general framework. For a convex environment, we propose an optimization-based open-loop optimal control problem coupled with receding horizon control strategy to plan for high quality trajectories along which the uncertainty of the state localization is reduced while the system reaches to a goal state with minimum control effort. In a static environment with non-convex state constraints, the optimization is modified by defining barrier functions to obtain collision-free paths while maintaining the previous goals. By initializing the optimization with trajectories in different homotopy classes and comparing the resultant costs, we improve the quality of the solution in the presence of action and measurement uncertainties. In dynamic environments with time-varying constraints such as moving obstacles or banned areas, the approach is extended to find collision-free trajectories. In this paper, the underlying spaces are continuous, and beliefs are non-Gaussian. Without obstacles, the optimization is a globally convex problem, while in the presence of obstacles it becomes locally convex. We demonstrate the performance of the method on different scenarios.

cs.RO↗