8,409 research outputs found
Time Complexity of Decentralized Fixed-Mode Verification
Given an interconnected system, this note is concerned with the time complexity of verifying whether an unrepeated mode of the system is a decentralized fixed mode (DFM). It is shown that checking the decentralized fixedness of any distinct mode is tantamount to testing the strong connectivity of a digraph formed based on the system. It is subsequently proved that the time complexity of this decision problem using the proposed approach is the same as the complexity of matrix multiplication. This work concludes that the identification of distinct DFMs (by means of a deterministic algorithm, rather than a randomized one) is computationally very easy, although the existing algorithms for solving this problem would wrongly imply that it is cumbersome. This note provides not only a complexity analysis, but also an efficient algorithm for tackling the underlying problem
Correlation Decay in Random Decision Networks
We consider a decision network on an undirected graph in which each node
corresponds to a decision variable, and each node and edge of the graph is
associated with a reward function whose value depends only on the variables of
the corresponding nodes. The goal is to construct a decision vector which
maximizes the total reward. This decision problem encompasses a variety of
models, including maximum-likelihood inference in graphical models (Markov
Random Fields), combinatorial optimization on graphs, economic team theory and
statistical physics. The network is endowed with a probabilistic structure in
which costs are sampled from a distribution. Our aim is to identify sufficient
conditions to guarantee average-case polynomiality of the underlying
optimization problem. We construct a new decentralized algorithm called Cavity
Expansion and establish its theoretical performance for a variety of models.
Specifically, for certain classes of models we prove that our algorithm is able
to find near optimal solutions with high probability in a decentralized way.
The success of the algorithm is based on the network exhibiting a correlation
decay (long-range independence) property. Our results have the following
surprising implications in the area of average case complexity of algorithms.
Finding the largest independent (stable) set of a graph is a well known NP-hard
optimization problem for which no polynomial time approximation scheme is
possible even for graphs with largest connectivity equal to three, unless P=NP.
We show that the closely related maximum weighted independent set problem for
the same class of graphs admits a PTAS when the weights are i.i.d. with the
exponential distribution. Namely, randomization of the reward function turns an
NP-hard problem into a tractable one
Navigability is a Robust Property
The Small World phenomenon has inspired researchers across a number of
fields. A breakthrough in its understanding was made by Kleinberg who
introduced Rank Based Augmentation (RBA): add to each vertex independently an
arc to a random destination selected from a carefully crafted probability
distribution. Kleinberg proved that RBA makes many networks navigable, i.e., it
allows greedy routing to successfully deliver messages between any two vertices
in a polylogarithmic number of steps. We prove that navigability is an inherent
property of many random networks, arising without coordination, or even
independence assumptions
Learning scalable and transferable multi-robot/machine sequential assignment planning via graph embedding
Can the success of reinforcement learning methods for simple combinatorial
optimization problems be extended to multi-robot sequential assignment
planning? In addition to the challenge of achieving near-optimal performance in
large problems, transferability to an unseen number of robots and tasks is
another key challenge for real-world applications. In this paper, we suggest a
method that achieves the first success in both challenges for robot/machine
scheduling problems.
Our method comprises of three components. First, we show a robot scheduling
problem can be expressed as a random probabilistic graphical model (PGM). We
develop a mean-field inference method for random PGM and use it for Q-function
inference. Second, we show that transferability can be achieved by carefully
designing two-step sequential encoding of problem state. Third, we resolve the
computational scalability issue of fitted Q-iteration by suggesting a heuristic
auction-based Q-iteration fitting method enabled by transferability we
achieved.
We apply our method to discrete-time, discrete space problems (Multi-Robot
Reward Collection (MRRC)) and scalably achieve 97% optimality with
transferability. This optimality is maintained under stochastic contexts. By
extending our method to continuous time, continuous space formulation, we claim
to be the first learning-based method with scalable performance among
multi-machine scheduling problems; our method scalability achieves comparable
performance to popular metaheuristics in Identical parallel machine scheduling
(IPMS) problems
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