Theories for influencer identification in complex networks

In social and biological systems, the structural heterogeneity of interaction networks gives rise to the emergence of a small set of influential nodes, or influencers, in a series of dynamical processes. Although much smaller than the entire network, these influencers were observed to be able to shape the collective dynamics of large populations in different contexts. As such, the successful identification of influencers should have profound implications in various real-world spreading dynamics such as viral marketing, epidemic outbreaks and cascading failure. In this chapter, we first summarize the centrality-based approach in finding single influencers in complex networks, and then discuss the more complicated problem of locating multiple influencers from a collective point of view. Progress rooted in collective influence theory, belief-propagation and computer science will be presented. Finally, we present some applications of influencer identification in diverse real-world systems, including online social platforms, scientific publication, brain networks and socioeconomic systems.Comment: 24 pages, 6 figure

Sampling-based Motion Planning for Active Multirotor System Identification

This paper reports on an algorithm for planning trajectories that allow a multirotor micro aerial vehicle (MAV) to quickly identify a set of unknown parameters. In many problems like self calibration or model parameter identification some states are only observable under a specific motion. These motions are often hard to find, especially for inexperienced users. Therefore, we consider system model identification in an active setting, where the vehicle autonomously decides what actions to take in order to quickly identify the model. Our algorithm approximates the belief dynamics of the system around a candidate trajectory using an extended Kalman filter (EKF). It uses sampling-based motion planning to explore the space of possible beliefs and find a maximally informative trajectory within a user-defined budget. We validate our method in simulation and on a real system showing the feasibility and repeatability of the proposed approach. Our planner creates trajectories which reduce model parameter convergence time and uncertainty by a factor of four.Comment: Published at ICRA 2017. Video available at https://www.youtube.com/watch?v=xtqrWbgep5

GP-SUM. Gaussian Processes Filtering of non-Gaussian Beliefs

This work studies the problem of stochastic dynamic filtering and state propagation with complex beliefs. The main contribution is GP-SUM, a filtering algorithm tailored to dynamic systems and observation models expressed as Gaussian Processes (GP), and to states represented as a weighted sum of Gaussians. The key attribute of GP-SUM is that it does not rely on linearizations of the dynamic or observation models, or on unimodal Gaussian approximations of the belief, hence enables tracking complex state distributions. The algorithm can be seen as a combination of a sampling-based filter with a probabilistic Bayes filter. On the one hand, GP-SUM operates by sampling the state distribution and propagating each sample through the dynamic system and observation models. On the other hand, it achieves effective sampling and accurate probabilistic propagation by relying on the GP form of the system, and the sum-of-Gaussian form of the belief. We show that GP-SUM outperforms several GP-Bayes and Particle Filters on a standard benchmark. We also demonstrate its use in a pushing task, predicting with experimental accuracy the naturally occurring non-Gaussian distributions.Comment: WAFR 2018, 16 pages, 7 figure

A similarity-based community detection method with multiple prototype representation

Communities are of great importance for understanding graph structures in social networks. Some existing community detection algorithms use a single prototype to represent each group. In real applications, this may not adequately model the different types of communities and hence limits the clustering performance on social networks. To address this problem, a Similarity-based Multi-Prototype (SMP) community detection approach is proposed in this paper. In SMP, vertices in each community carry various weights to describe their degree of representativeness. This mechanism enables each community to be represented by more than one node. The centrality of nodes is used to calculate prototype weights, while similarity is utilized to guide us to partitioning the graph. Experimental results on computer generated and real-world networks clearly show that SMP performs well for detecting communities. Moreover, the method could provide richer information for the inner structure of the detected communities with the help of prototype weights compared with the existing community detection models

Bayesian model predictive control: Efficient model exploration and regret bounds using posterior sampling

Tight performance specifications in combination with operational constraints make model predictive control (MPC) the method of choice in various industries. As the performance of an MPC controller depends on a sufficiently accurate objective and prediction model of the process, a significant effort in the MPC design procedure is dedicated to modeling and identification. Driven by the increasing amount of available system data and advances in the field of machine learning, data-driven MPC techniques have been developed to facilitate the MPC controller design. While these methods are able to leverage available data, they typically do not provide principled mechanisms to automatically trade off exploitation of available data and exploration to improve and update the objective and prediction model. To this end, we present a learning-based MPC formulation using posterior sampling techniques, which provides finite-time regret bounds on the learning performance while being simple to implement using off-the-shelf MPC software and algorithms. The performance analysis of the method is based on posterior sampling theory and its practical efficiency is illustrated using a numerical example of a highly nonlinear dynamical car-trailer system