arXiv subjects

Themistoklis Charalambous

Publications and source records attributed to Themistoklis Charalambous.

At least 55 records · Page 3Linked to original sources

arXiv2023

CPU Scheduling in Data Centers Using Asynchronous Finite-Time Distributed Coordination Mechanisms

We propose an asynchronous iterative scheme that allows a set of interconnected nodes to distributively reach an agreement within a pre-specified bound in a finite number of steps. While this scheme could be adopted in a wide variety of applications, we discuss it within the context of task scheduling for data centers. In this context, the algorithm is guaranteed to approximately converge to the optimal scheduling plan, given the available resources, in a finite number of steps. Furthermore, by being asynchronous, the proposed scheme is able to take into account the uncertainty that can be introduced from straggler nodes or communication issues in the form of latency variability while still converging to the target objective. In addition, by using extensive empirical evaluation through simulations we show that the proposed method exhibits state-of-the-art performance.

cs.DC↗

arXiv2022

Onboard Real-Time Multi-Sensor Pose Estimation for Indoor Quadrotor Navigation with Intermittent Communication

We propose a multisensor fusion framework for onboard real-time navigation of a quadrotor in an indoor environment, by integrating sensor readings from an Inertial Measurement Unit (IMU), a camera-based object detection algorithm, and an Ultra-WideBand (UWB) localization system. The sensor readings from the camera-based object detection algorithm and the UWB localization system arrive intermittently, since the measurements are not readily available. We design a Kalman filter that manages intermittent observations in order to handle and fuse the readings and estimate the pose of the quadrotor for tracking a predefined trajectory. The system is implemented via a Hardware-in-the-loop (HIL) simulation technique, in which the dynamic model of the quadrotor is simulated in an open-source 3D robotics simulator tool, and the whole navigation system is implemented on Artificial Intelligence (AI) enabled edge GPU. The simulation results show that our proposed framework offers low positioning and trajectory errors, while handling intermittent sensor measurements.

cs.RO↗

arXiv2022

Distributed Computation of Exact Average Degree and Network Size in Finite Number of Steps under Quantized Communication

We consider the problems of computing the average degree and the size of a given network in a distributed fashion under quantized communication. We present two distributed algorithms which rely on quantized operation (i.e., nodes process and transmit quantized messages), and are able to calculate the exact solutions in a finite number of steps. Furthermore, during the operation of our algorithms, each node is able to determine in a distributed manner whether convergence has been achieved and thus terminate its operation. To the best of the authors' knowledge these algorithms are the first to find the exact solutions under quantized communication (i.e., there is no error in the final calculation). Additionally, note that our network size calculation algorithm is the first in the literature which calculates the exact size of a network in a finite number of steps without introducing a final error. This error in other algorithms can be either due to quantization or asymptotic convergence. In our case, no error is introduced since the desired result is calculated in the form of a fraction involving a quantized numerator and a quantized denominator. Finally, we demonstrate the operation of our algorithms and their potential advantages.

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arXiv2022

On the Interplay Between Deadline-Constrained Traffic and the Number of Allowed Retransmissions in Random Access Networks

In this paper, a network comprising wireless devices equipped with buffers transmitting deadline-constrained data packets over a slotted-ALOHA random-access channel is studied. Although communication protocols facilitating retransmissions increase reliability, packet transmission from the queue experiences delays and thus, packets with time constraints might be dropped before being successfully transmitted, while at the same time causing the queue size of the buffer to increase. Towards understanding the trade-off between reliability and delays that might lead to packet drops due to the deadline-constrained bursty traffic with retransmissions, a scenario of a wireless network utilizing a slotted-ALOHA random-access channel is investigated. The main focus is to reveal and investigate further the trade-off between the number of retransmissions and the packet deadline as a function of the arrival rate. Hence, we are able to determine numerically the optimal probability of transmissions and number of retransmissions, given the packet arrival rate and the packet deadline. The analysis of the system was done by means of discrete-time Markov chains. Two scenarios are studied: i) the collision channel model (in which a receiver can decode only when a single packet is transmitted), and ii) the case for which receivers have multi-packet reception capabilities. A performance evaluation for a user with different transmit probability and number of retransmissions is conducted, demonstrating their impact on the average drop rate and throughput, while at the same time showing that there exists a set of values, under which improved performance can be acquired.

cs.IT↗

arXiv2022

Distributed CPU Scheduling Subject to Nonlinear Constraints

This paper considers a network of collaborating agents for local resource allocation subject to nonlinear model constraints. In many applications, it is required (or desirable) that the solution be anytime feasible in terms of satisfying the sum-preserving global constraint. Motivated by this, sufficient conditions on the nonlinear mapping for anytime feasibility (or non-asymptotic feasibility) are addressed in this paper. For the two proposed distributed solutions, one converges over directed weight-balanced networks and the other one over undirected networks. In particular, we elaborate on uniform quantization and discuss the notion of ε-accurate solution, which gives an estimate of how close we can get to the exact optimizer subject to different quantization levels. This work, further, handles general (possibly non-quadratic) strictly convex objective functions with application to CPU allocation among a cloud of data centers via distributed solutions. The results can be used as a coordination mechanism to optimally balance the tasks and CPU resources among a group of networked servers while addressing quantization or limited server capacity. Index Terms: multi-agent systems, sum-preserving resource allocation, distributed optimization, anytime feasibility

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arXiv2022

DTAC-ADMM: Delay-Tolerant Augmented Consensus ADMM-based Algorithm for Distributed Resource Allocation

Latency is inherent in almost all real-world networked applications. In this paper, we propose a distributed allocation strategy over multi-agent networks with delayed communications. The state of each agent (or node) represents its share of assigned resources out of a fixed amount (equal to overall demand). Every node locally updates its state toward optimizing a global allocation cost function via received information of its neighbouring nodes even when the data exchange over the network is heterogeneously delayed at different links. The update is based on the alternating direction method of multipliers (ADMM) formulation subject to both sum-preserving coupling-constraint and local box-constraints. The solution is derivative-free and holds for general (not necessarily differentiable) convex cost models. We use the notion of augmented consensus over undirected networks to model delayed information exchange and for convergence analysis. We simulate our \textit{delay-tolerant} algorithm for

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arXiv2022

Distributed Constraint-Coupled Optimization over Lossy Networks

This paper considers distributed resource allocation and sum-preserving constrained optimization over lossy networks, where the links are unreliable and subject to packet drops. We define the conditions to ensure convergence under packet drops and link removal by focusing on two main properties of our allocation algorithm: (i) The weight-stochastic condition in typical consensus schemes is reduced to balanced weights, with no need for readjusting the weights to satisfy stochasticity. (ii) The algorithm does not require all-time connectivity but instead uniform connectivity over some non-overlapping finite time intervals. First, we prove that our algorithm provides primal-feasible allocation at every iteration step and converges under the conditions (i)-(ii) and some other mild conditions on the nonlinear iterative dynamics. These nonlinearities address possible practical constraints in real applications due to, for example, saturation or quantization among others. Then, using (i)-(ii) and the notion of bond-percolation theory, we relate the packet drop rate and the network percolation threshold to the (finite) number of iterations ensuring uniform connectivity and, thus, convergence towards the optimum value.

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arXiv2022

Fast-Convergent Dynamics for Distributed Allocation of Resources Over Switching Sparse Networks with Quantized Communication Links

This paper proposes networked dynamics to solve resource allocation problems over time-varying multi-agent networks. The state of each agent represents the amount of used resources (or produced utilities) while the total amount of resources is fixed. The idea is to optimally allocate the resources among the group of agents by minimizing the overall cost function subject to fixed sum of resources. Each agents' information is restricted to its own state and cost function and those of its immediate in-neighbors. This is motivated by distributed applications such as mobile edge-computing, economic dispatch over smart grids, and multi-agent coverage control. This work provides a fast convergent solution (in comparison with linear dynamics) while considering relaxed network connectivity with quantized communication links. The proposed dynamics reaches optimal solution over switching (possibly disconnected) undirected networks as far as their union over some bounded non-overlapping time-intervals has a spanning-tree. We prove feasibility of the solution, uniqueness of the optimal state, and convergence to the optimal value under the proposed dynamics, where the analysis is applicable to similar 1st-order allocation dynamics with strongly sign-preserving nonlinearities, such as actuator saturation.

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arXiv2022

Linear TDOA-based Measurements for Distributed Estimation and Localized Tracking

We propose a linear time-difference-of-arrival (TDOA) measurement model to improve \textit{distributed} estimation performance for localized target tracking. We design distributed filters over sparse (possibly large-scale) communication networks using consensus-based data-fusion techniques. The proposed distributed and localized tracking protocols considerably reduce the sensor network's required connectivity and communication rate. We, further, consider $κ$-redundant observability and fault-tolerant design in case of losing communication links or sensor nodes. We present the minimal conditions on the remaining sensor network (after link/node removal) such that the distributed observability is still preserved and, thus, the sensor network can track the (single) maneuvering target. The motivation is to reduce the communication load versus the processing load, as the computational units are, in general, less costly than the communication devices. We evaluate the tracking performance via simulations in MATLAB.

eess.SY↗

arXiv2022

Distributed Anomaly Detection and Estimation over Sensor Networks: Observational-Equivalence and Q-Redundant Observer Design

In this paper, we study stateless and stateful physics-based anomaly detection scenarios via distributed estimation over sensor networks. In the stateful case, the detector keeps track of the sensor residuals (i.e., the difference of estimated and true outputs) and reports an alarm if certain statistics of the recorded residuals deviate over a predefined threshold, e.g., χ^2 (Chi-square) detector. Instead, only instantaneous deviation of the residuals raises the alarm in the stateless case without considering the history of the sensor outputs and estimation data. Given (approximate) false-alarm rate for both cases, we propose a probabilistic threshold design based on the noise statistics. We show by simulation that increasing the window length in the stateful case may not necessarily reduce the false-alarm rate. On the other hand, it adds unwanted delay to raise the alarm. The distributed aspect of the proposed detection algorithm enables local isolation of the faulty sensors with possible recovery solutions by adding redundant observationally-equivalent sensors. We, then, offer a mechanism to design Q-redundant distributed observers, robust to failure (or removal) of up to Q sensors over the network.

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arXiv2022

Distributed Finite-Sum Constrained Optimization subject to Nonlinearity on the Node Dynamics

Motivated by recent development in networking and parallel data-processing, we consider a distributed and localized finite-sum (or fixed-sum) allocation technique to solve resource-constrained convex optimization problems over multi-agent networks (MANs). Such networks include (smart) agents representing an intelligent entity capable of communication, processing, and decision-making. In particular, we consider problems subject to practical nonlinear constraints on the dynamics of the agents in terms of their communications and actuation capabilities (referred to as the node dynamics), e.g., networks of mobile robots subject to actuator saturation and quantized communication. The considered distributed sum-preserving optimization solution further enables adding purposeful nonlinear constraints, for example, sign-based nonlinearities, to reach convergence in predefined-time or robust to impulsive noise and disturbances in faulty environments. Moreover, convergence can be achieved under minimal network connectivity requirements among the agents; thus, the solution is applicable over dynamic networks where the channels come and go due to the agent's mobility and limited range. This paper discusses how various nonlinearity constraints on the optimization problem (e.g., collaborative allocation of resources) can be addressed for different applications via a distributed setup (over a network).

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arXiv2021

1st-Order Dynamics on Nonlinear Agents for Resource Allocation over Uniformly-Connected Networks

A general nonlinear $1$st-order consensus-based solution for distributed constrained convex optimization is proposed with network resource allocation applications. The solution is used to optimize continuously-differentiable strictly convex cost functions over weakly-connected undirected networks, while it is anytime feasible and models various nonlinearities to account for imperfections and constraints on the (physical model of) agents in terms of limited actuation capabilities, e.g., quantization and saturation. Due to such inherent nonlinearities, the existing linear solutions considering ideal agent models may not necessarily converge with guaranteed optimality and anytime feasibility. Some applications also impose specific nonlinearities, e.g., convergence in fixed/finite-time or sign-based robust disturbance-tolerant dynamics. Our proposed distributed protocol generalizes such nonlinear models. Putting convex set analysis together with nonsmooth Lyapunov analysis, we prove convergence, (i) regardless of the particular type of nonlinearity, and (ii) with weak network-connectivity requirements (uniform-connectivity).

eess.SY↗

arXiv2021

A New Class of Composite Objective Multi-step Estimating-sequence Techniques (COMET)

We devise a new accelerated gradient-based estimating sequence technique for solving large-scale optimization problems with composite structure. More specifically, we introduce a new class of estimating functions, which are obtained by utilizing a tight lower bound on the objective function. Then, by exploiting the coupling between the proposed estimating functions and the gradient mapping technique, we construct a class of composite objective multi-step estimating-sequence techniques (COMET). We propose an efficient line search strategy for COMET, and prove that it enjoys an accelerated convergence rate. The established convergence results allow for step size adaptation. Our theoretical findings are supported by extensive computational experiments on various problem types and datasets. Moreover, our numerical results show evidence of the robustness of the proposed method to the imperfect knowledge of the smoothness and strong convexity parameters of the objective function.

math.OC↗

arXiv2021

Embedding a Heavy-Ball type of Momentum into the Estimating Sequences

We present a new accelerated gradient-based method for solving smooth unconstrained optimization problems. The goal is to embed a heavy-ball type of momentum into the Fast Gradient Method (FGM). For this purpose, we devise a generalization of the estimating sequences, which allows for encoding any form of information about the cost function that can aid in further accelerating the minimization process. In the black box framework, we propose a construction for the generalized estimating sequences, which is obtained by exploiting the history of the previously constructed estimating functions. From the viewpoint of efficiency estimates, we prove that the lower bound on the number of iterations for the proposed method is $\mathcal{O} \left(\sqrt{\fracκ{2}}\right)$. Our theoretical results are further corroborated by extensive numerical experiments on various types of optimization problems, often dealt within signal processing. Both synthetic and real-world datasets are utilized to demonstrate the efficiency of our proposed method in terms of decreasing the distance to the optimal solution, as well as in terms of decreasing the norm of the gradient.

math.OC↗

arXiv2021

Fully Distributed Alternating Direction Method of Multipliers in Digraphs via Finite-Time Termination Mechanisms

In this work, we consider the distributed optimization problem in which each node has its own convex cost function and can communicate directly only with its neighbors, as determined by a directed communication topology (directed graph or digraph). First, we reformulate the optimization problem so that Alternating Direction Method of Multipliers (ADMM) can be utilized. Then, we propose an algorithm, herein called Distributed Alternating Direction Method of Multipliers using Finite-Time Exact Ratio Consensus (D-ADMM-FTERC), to solve the multi-node convex optimization problem, in which every node performs iterative computations and exchanges information with its neighbors. At every iteration of D-ADMM-FTERC, each node solves a local convex optimization problem for the one of the primal variables and utilizes a finite-time exact consensus protocol to obtain the optimal value of the other variable, since the cost function for the second primal variable is not decomposable. Since D-ADMM-FTERC requires to know the upper bound on the number of nodes in the network, we furthermore propose a new algorithm, called Fully D-ADMM Finite-Time Distributed Termination (FD-ADMM-FTDT) algorithm, which does not need any global information. If the individual cost functions are convex and not-necessarily differentiable, the proposed algorithms converge at a rate of O(1/k), where k is the iteration counter. Additionally, if the global objective function is strongly convex and smooth, the proposed algorithms have an "approximate" R-linear convergence rate. The efficacy of FD-ADMM-FTDT is demonstrated via a distributed L1 regularized logistic regression optimization example. Additionally, comparisons with other state-of-the-art algorithms are provided on large-scale networks showing the superior precision and time-efficient performance of FD-ADMM-FTDT.

math.OC↗

arXiv2021

Distributed Detection and Mitigation of Biasing Attacks over Multi-Agent Networks

This paper proposes a distributed attack detection and mitigation technique based on distributed estimation over a multi-agent network, where the agents take partial system measurements susceptible to (possible) biasing attacks. In particular, we assume that the system is not locally observable via the measurements in the direct neighborhood of any agent. First, for performance analysis in the attack-free case, we show that the proposed distributed estimation is unbiased with bounded mean-square deviation in steady-state. Then, we propose a residual-based strategy to locally detect possible attacks at agents. In contrast to the deterministic thresholds in the literature assuming an upper bound on the noise support, we define the thresholds on the residuals in a probabilistic sense. After detecting and isolating the attacked agent, a system-digraph-based mitigation strategy is proposed to replace the attacked measurement with a new observationally-equivalent one to recover potential observability loss. We adopt a graph-theoretic method to classify the agents based on their measurements, to distinguish between the agents recovering the system rank-deficiency and the ones recovering output-connectivity of the system digraph. The attack detection/mitigation strategy is specifically described for each type, which is of polynomial-order complexity for large-scale applications. Illustrative simulations support our theoretical results.

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arXiv2021

Consensus-Based Distributed Estimation in the Presence of Heterogeneous, Time-Invariant Delays

Classical distributed estimation scenarios typically assume timely and reliable exchanges of information over the sensor network. This paper, in contrast, considers single time-scale distributed estimation via a sensor network subject to transmission time-delays. The proposed discrete-time networked estimator consists of two steps: (i) consensus on (delayed) a-priori estimates, and (ii) measurement update. The sensors only share their a-priori estimates with their out-neighbors over (possibly) time-delayed transmission links. The delays are assumed to be fixed over time, heterogeneous, and known. We assume distributed observability instead of local observability, which significantly reduces the communication/sensing loads on sensors. Using the notions of augmented matrices and Kronecker product, the convergence of the proposed estimator over strongly-connected networks is proved for a specific upper-bound on the time-delay.

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arXiv2021

Distributed Channel Access for Control Over Unknown Memoryless Communication Channels

We consider the distributed channel access problem for a system consisting of multiple control subsystems that close their loop over a shared wireless network. We propose a distributed method for providing deterministic channel access without requiring explicit information exchange between the subsystems. This is achieved by utilizing timers for prioritizing channel access with respect to a local cost which we derive by transforming the control objective cost to a form that allows its local computation. This property is then exploited for developing our distributed deterministic channel access scheme. A framework to verify the stability of the system under the resulting scheme is then proposed. Next, we consider a practical scenario in which the channel statistics are unknown. We propose learning algorithms for learning the parameters of imperfect communication links for estimating the channel quality and, hence, define the local cost as a function of this estimation and control performance. We establish that our learning approach results in collision-free channel access. The behavior of the overall system is exemplified via a proof-of-concept illustrative example, and the efficacy of this mechanism is evaluated for large-scale networks via simulations.

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