1,997 research outputs found
Sensor Networks with Random Links: Topology Design for Distributed Consensus
In a sensor network, in practice, the communication among sensors is subject
to:(1) errors or failures at random times; (3) costs; and(2) constraints since
sensors and networks operate under scarce resources, such as power, data rate,
or communication. The signal-to-noise ratio (SNR) is usually a main factor in
determining the probability of error (or of communication failure) in a link.
These probabilities are then a proxy for the SNR under which the links operate.
The paper studies the problem of designing the topology, i.e., assigning the
probabilities of reliable communication among sensors (or of link failures) to
maximize the rate of convergence of average consensus, when the link
communication costs are taken into account, and there is an overall
communication budget constraint. To consider this problem, we address a number
of preliminary issues: (1) model the network as a random topology; (2)
establish necessary and sufficient conditions for mean square sense (mss) and
almost sure (a.s.) convergence of average consensus when network links fail;
and, in particular, (3) show that a necessary and sufficient condition for both
mss and a.s. convergence is for the algebraic connectivity of the mean graph
describing the network topology to be strictly positive. With these results, we
formulate topology design, subject to random link failures and to a
communication cost constraint, as a constrained convex optimization problem to
which we apply semidefinite programming techniques. We show by an extensive
numerical study that the optimal design improves significantly the convergence
speed of the consensus algorithm and can achieve the asymptotic performance of
a non-random network at a fraction of the communication cost.Comment: Submitted to IEEE Transaction
Detecting Topology Variations in Dynamical Networks
This paper considers the problem of detecting topology variations in
dynamical networks. We consider a network whose behavior can be represented via
a linear dynamical system. The problem of interest is then that of finding
conditions under which it is possible to detect node or link disconnections
from prior knowledge of the nominal network behavior and on-line measurements.
The considered approach makes use of analysis tools from switching systems
theory. A number of results are presented along with examples
Information flow and cooperative control of vehicle formations
We consider the problem of cooperation among a collection of vehicles performing a shared task using intervehicle communication to coordinate their actions. Tools from algebraic graph theory prove useful in modeling the communication network and relating its topology to formation stability. We prove a Nyquist criterion that uses the eigenvalues of the graph Laplacian matrix to determine the effect of the communication topology on formation stability. We also propose a method for decentralized information exchange between vehicles. This approach realizes a dynamical system that supplies each vehicle with a common reference to be used for cooperative motion. We prove a separation principle that decomposes formation stability into two components: Stability of this is achieved information flow for the given graph and stability of an individual vehicle for the given controller. The information flow can thus be rendered highly robust to changes in the graph, enabling tight formation control despite limitations in intervehicle communication capability
Optimal Data Collection For Informative Rankings Expose Well-Connected Graphs
Given a graph where vertices represent alternatives and arcs represent
pairwise comparison data, the statistical ranking problem is to find a
potential function, defined on the vertices, such that the gradient of the
potential function agrees with the pairwise comparisons. Our goal in this paper
is to develop a method for collecting data for which the least squares
estimator for the ranking problem has maximal Fisher information. Our approach,
based on experimental design, is to view data collection as a bi-level
optimization problem where the inner problem is the ranking problem and the
outer problem is to identify data which maximizes the informativeness of the
ranking. Under certain assumptions, the data collection problem decouples,
reducing to a problem of finding multigraphs with large algebraic connectivity.
This reduction of the data collection problem to graph-theoretic questions is
one of the primary contributions of this work. As an application, we study the
Yahoo! Movie user rating dataset and demonstrate that the addition of a small
number of well-chosen pairwise comparisons can significantly increase the
Fisher informativeness of the ranking. As another application, we study the
2011-12 NCAA football schedule and propose schedules with the same number of
games which are significantly more informative. Using spectral clustering
methods to identify highly-connected communities within the division, we argue
that the NCAA could improve its notoriously poor rankings by simply scheduling
more out-of-conference games.Comment: 31 pages, 10 figures, 3 table
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