Incrementally Learned Mixture Models for GNSS Localization

GNSS localization is an important part of today's autonomous systems, although it suffers from non-Gaussian errors caused by non-line-of-sight effects. Recent methods are able to mitigate these effects by including the corresponding distributions in the sensor fusion algorithm. However, these approaches require prior knowledge about the sensor's distribution, which is often not available. We introduce a novel sensor fusion algorithm based on variational Bayesian inference, that is able to approximate the true distribution with a Gaussian mixture model and to learn its parametrization online. The proposed Incremental Variational Mixture algorithm automatically adapts the number of mixture components to the complexity of the measurement's error distribution. We compare the proposed algorithm against current state-of-the-art approaches using a collection of open access real world datasets and demonstrate its superior localization accuracy.Comment: 8 pages, 5 figures, published in proceedings of IEEE Intelligent Vehicles Symposium (IV) 201

Hyper-learning for population-based incremental learning in dynamic environments

This article is posted here here with permission from IEEE - Copyright @ 2009 IEEEThe population-based incremental learning (PBIL) algorithm is a combination of evolutionary optimization and competitive learning. Recently, the PBIL algorithm has been applied for dynamic optimization problems. This paper investigates the effect of the learning rate, which is a key parameter of PBIL, on the performance of PBIL in dynamic environments. A hyper-learning scheme is proposed for PBIL, where the learning rate is temporarily raised whenever the environment changes. The hyper-learning scheme can be combined with other approaches, e.g., the restart and hypermutation schemes, for PBIL in dynamic environments. Based on a series of dynamic test problems, experiments are carried out to investigate the effect of different learning rates and the proposed hyper-learning scheme in combination with restart and hypermutation schemes on the performance of PBIL. The experimental results show that the learning rate has a significant impact on the performance of the PBIL algorithm in dynamic environments and that the effect of the proposed hyper-learning scheme depends on the environmental dynamics and other schemes combined in the PBIL algorithm.The work by Shengxiang Yang was supported by the Engineering and Physical Sciences Research Council (EPSRC) of the United Kingdom under Grant EP/E060722/1

Diffusion Adaptation Strategies for Distributed Optimization and Learning over Networks

We propose an adaptive diffusion mechanism to optimize a global cost function in a distributed manner over a network of nodes. The cost function is assumed to consist of a collection of individual components. Diffusion adaptation allows the nodes to cooperate and diffuse information in real-time; it also helps alleviate the effects of stochastic gradient noise and measurement noise through a continuous learning process. We analyze the mean-square-error performance of the algorithm in some detail, including its transient and steady-state behavior. We also apply the diffusion algorithm to two problems: distributed estimation with sparse parameters and distributed localization. Compared to well-studied incremental methods, diffusion methods do not require the use of a cyclic path over the nodes and are robust to node and link failure. Diffusion methods also endow networks with adaptation abilities that enable the individual nodes to continue learning even when the cost function changes with time. Examples involving such dynamic cost functions with moving targets are common in the context of biological networks.Comment: 34 pages, 6 figures, to appear in IEEE Transactions on Signal Processing, 201

Incremental evolution strategy for function optimization

This paper presents a novel evolutionary approach for function optimization Incremental Evolution Strategy (IES). Two strategies are proposed. One is to evolve the input variables incrementally. The whole evolution consists of several phases and one more variable is focused in each phase. The number of phases is equal to the number of variables in maximum. Each phase is composed of two stages: in the single-variable evolution (SVE) stage, evolution is taken on one independent variable in a series of cutting planes; in the multi-variable evolving (MVE) stage, the initial population is formed by integrating the populations obtained by the SVE and the MVE in the last phase. And the evolution is taken on the incremented variable set. The other strategy is a hybrid of particle swarm optimization (PSO) and evolution strategy (ES). PSO is applied to adjust the cutting planes/hyper-planes (in SVEs/MVEs) while (1+1)-ES is applied to searching optima in the cutting planes/hyper-planes. The results of experiments show that the performance of IES is generally better than that of three other evolutionary algorithms, improved normal GA, PSO and SADE_CERAF, in the sense that IES finds solutions closer to the true optima and with more optimal objective values

Dual population-based incremental learning for problem optimization in dynamic environments

Copyright @ 2003 Asia Pacific Symposium on Intelligent and Evolutionary SystemsIn recent years there is a growing interest in the research of evolutionary algorithms for dynamic optimization problems since real world problems are usually dynamic, which presents serious challenges to traditional evolutionary algorithms. In this paper, we investigate the application of Population-Based Incremental Learning (PBIL) algorithms, a class of evolutionary algorithms, for problem optimization under dynamic environments. Inspired by the complementarity mechanism in nature, we propose a Dual PBIL that operates on two probability vectors that are dual to each other with respect to the central point in the search space. Using a dynamic problem generating technique we generate a series of dynamic knapsack problems from a randomly generated stationary knapsack problem and carry out experimental study comparing the performance of investigated PBILs and one traditional genetic algorithm. Experimental results show that the introduction of dualism into PBIL improves its adaptability under dynamic environments, especially when the environment is subject to significant changes in the sense of genotype space

Stacked Auto Encoder Based Deep Reinforcement Learning for Online Resource Scheduling in Large-Scale MEC Networks

An online resource scheduling framework is proposed for minimizing the sum of weighted task latency for all the Internet-of-Things (IoT) users, by optimizing offloading decision, transmission power, and resource allocation in the large-scale mobile-edge computing (MEC) system. Toward this end, a deep reinforcement learning (DRL)-based solution is proposed, which includes the following components. First, a related and regularized stacked autoencoder (2r-SAE) with unsupervised learning is applied to perform data compression and representation for high-dimensional channel quality information (CQI) data, which can reduce the state space for DRL. Second, we present an adaptive simulated annealing approach (ASA) as the action search method of DRL, in which an adaptive h -mutation is used to guide the search direction and an adaptive iteration is proposed to enhance the search efficiency during the DRL process. Third, a preserved and prioritized experience replay (2p-ER) is introduced to assist the DRL to train the policy network and find the optimal offloading policy. The numerical results are provided to demonstrate that the proposed algorithm can achieve near-optimal performance while significantly decreasing the computational time compared with existing benchmarks

Population-based incremental learning with associative memory for dynamic environments

Copyright © 2007 IEEE. Reprinted from IEEE Transactions on Evolutionary Computation. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of Brunel University's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to [email protected]. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.In recent years there has been a growing interest in studying evolutionary algorithms (EAs) for dynamic optimization problems (DOPs) due to its importance in real world applications. Several approaches, such as the memory and multiple population schemes, have been developed for EAs to address dynamic problems. This paper investigates the application of the memory scheme for population-based incremental learning (PBIL) algorithms, a class of EAs, for DOPss. A PBIL-specific associative memory scheme, which stores best solutions as well as corresponding environmental information in the memory, is investigated to improve its adaptability in dynamic environments. In this paper, the interactions between the memory scheme and random immigrants, multi-population, and restart schemes for PBILs in dynamic environments are investigated. In order to better test the performance of memory schemes for PBILs and other EAs in dynamic environments, this paper also proposes a dynamic environment generator that can systematically generate dynamic environments of different difficulty with respect to memory schemes. Using this generator a series of dynamic environments are generated and experiments are carried out to compare the performance of investigated algorithms. The experimental results show that the proposed memory scheme is efficient for PBILs in dynamic environments and also indicate that different interactions exist between the memory scheme and random immigrants, multi-population schemes for PBILs in different dynamic environments