Iterative Reweighted Algorithms for Sparse Signal Recovery with Temporally Correlated Source Vectors

Iterative reweighted algorithms, as a class of algorithms for sparse signal recovery, have been found to have better performance than their non-reweighted counterparts. However, for solving the problem of multiple measurement vectors (MMVs), all the existing reweighted algorithms do not account for temporal correlation among source vectors and thus their performance degrades significantly in the presence of correlation. In this work we propose an iterative reweighted sparse Bayesian learning (SBL) algorithm exploiting the temporal correlation, and motivated by it, we propose a strategy to improve existing reweighted $\ell_2$ algorithms for the MMV problem, i.e. replacing their row norms with Mahalanobis distance measure. Simulations show that the proposed reweighted SBL algorithm has superior performance, and the proposed improvement strategy is effective for existing reweighted $\ell_2$ algorithms.Comment: Accepted by ICASSP 201

Global optimization based on active preference learning with radial basis functions

AbstractThis paper proposes a method for solving optimization problems in which the decision-maker cannot evaluate the objective function, but rather can only express apreferencesuch as "this is better than that" between two candidate decision vectors. The algorithm described in this paper aims at reaching the global optimizer by iteratively proposing the decision maker a new comparison to make, based on actively learning a surrogate of the latent (unknown and perhaps unquantifiable) objective function from past sampled decision vectors and pairwise preferences. A radial-basis function surrogate is fit via linear or quadratic programming, satisfying if possible the preferences expressed by the decision maker on existing samples. The surrogate is used to propose a new sample of the decision vector for comparison with the current best candidate based on two possible criteria: minimize a combination of the surrogate and an inverse weighting distance function to balance between exploitation of the surrogate and exploration of the decision space, or maximize a function related to the probability that the new candidate will be preferred. Compared to active preference learning based on Bayesian optimization, we show that our approach is competitive in that, within the same number of comparisons, it usually approaches the global optimum more closely and is computationally lighter. Applications of the proposed algorithm to solve a set of benchmark global optimization problems, for multi-objective optimization, and for optimal tuning of a cost-sensitive neural network classifier for object recognition from images are described in the paper. MATLAB and a Python implementations of the algorithms described in the paper are available athttp://cse.lab.imtlucca.it/~bemporad/glis

Faster Motion on Cartesian Paths Exploiting Robot Redundancy at the Acceleration Level

The problem of minimizing the transfer time along a given Cartesian path for redundant robots can be approached in two steps, by separating the generation of a joint path associated to the Cartesian path from the exact minimization of motion time under kinematic/dynamic bounds along the obtained parameterized joint path. In this framework, multiple suboptimal solutions can be found, depending on how redundancy is locally resolved in the joint space within the first step. We propose a solution method that works at the acceleration level, by using weighted pseudoinversion, optimizing an inertia-related criterion, and including null-space damping. Several numerical results obtained on different robot systems demonstrate consistently good behaviors and definitely faster motion times in comparison with related methods proposed in the literature. The motion time obtained with our method is reasonably close to the global time-optimal solution along same Cartesian path. Experimental results on a KUKA LWR IV are also reported, showing the tracking control performance on the executed motions