A method for inferring hierarchical dynamics in stochastic processes

Complex systems may often be characterized by their hierarchical dynamics. In this paper do we present a method and an operational algorithm that automatically infer this property in a broad range of systems; discrete stochastic processes. The main idea is to systematically explore the set of projections from the state space of a process to smaller state spaces, and to determine which of the projections that impose Markovian dynamics on the coarser level. These projections, which we call Markov projections, then constitute the hierarchical dynamics of the system. The algorithm operates on time series or other statistics, so a priori knowledge of the intrinsic workings of a system is not required in order to determine its hierarchical dynamics. We illustrate the method by applying it to two simple processes; a finite state automaton and an iterated map.Comment: 16 pages, 12 figure

Synchronizability determined by coupling strengths and topology on Complex Networks

We investigate in depth the synchronization of coupled oscillators on top of complex networks with different degrees of heterogeneity within the context of the Kuramoto model. In a previous paper [Phys. Rev. Lett. 98, 034101 (2007)], we unveiled how for fixed coupling strengths local patterns of synchronization emerge differently in homogeneous and heterogeneous complex networks. Here, we provide more evidence on this phenomenon extending the previous work to networks that interpolate between homogeneous and heterogeneous topologies. We also present new details on the path towards synchronization for the evolution of clustering in the synchronized patterns. Finally, we investigate the synchronization of networks with modular structure and conclude that, in these cases, local synchronization is first attained at the most internal level of organization of modules, progressively evolving to the outer levels as the coupling constant is increased. The present work introduces new parameters that are proved to be useful for the characterization of synchronization phenomena in complex networks.Comment: 11 pages, 10 figures and 1 table. APS forma

Multiple dynamical time-scales in networks with hierarchically nested modular organization

Many natural and engineered complex networks have intricate mesoscopic organization, e.g., the clustering of the constituent nodes into several communities or modules. Often, such modularity is manifested at several different hierarchical levels, where the clusters defined at one level appear as elementary entities at the next higher level. Using a simple model of a hierarchical modular network, we show that such a topological structure gives rise to characteristic time-scale separation between dynamics occurring at different levels of the hierarchy. This generalizes our earlier result for simple modular networks, where fast intra-modular and slow inter-modular processes were clearly distinguished. Investigating the process of synchronization of oscillators in a hierarchical modular network, we show the existence of as many distinct time-scales as there are hierarchical levels in the system. This suggests a possible functional role of such mesoscopic organization principle in natural systems, viz., in the dynamical separation of events occurring at different spatial scales.Comment: 10 pages, 4 figure

Delegated causality of complex systems

A notion of delegated causality is introduced here. This subtle kind of causality is dual to interventional causality. Delegated causality elucidates the causal role of dynamical systems at the “edge of chaos”, explicates evident cases of downward causation, and relates emergent phenomena to Gödel’s incompleteness theorem. Apparently rich implications are noticed in biology and Chinese philosophy. The perspective of delegated causality supports cognitive interpretations of self-organization and evolution

Coordinated Robot Navigation via Hierarchical Clustering

We introduce the use of hierarchical clustering for relaxed, deterministic coordination and control of multiple robots. Traditionally an unsupervised learning method, hierarchical clustering offers a formalism for identifying and representing spatially cohesive and segregated robot groups at different resolutions by relating the continuous space of configurations to the combinatorial space of trees. We formalize and exploit this relation, developing computationally effective reactive algorithms for navigating through the combinatorial space in concert with geometric realizations for a particular choice of hierarchical clustering method. These constructions yield computationally effective vector field planners for both hierarchically invariant as well as transitional navigation in the configuration space. We apply these methods to the centralized coordination and control of $n$ perfectly sensed and actuated Euclidean spheres in a $d$-dimensional ambient space (for arbitrary $n$ and $d$). Given a desired configuration supporting a desired hierarchy, we construct a hybrid controller which is quadratic in $n$ and algebraic in $d$ and prove that its execution brings all but a measure zero set of initial configurations to the desired goal with the guarantee of no collisions along the way.Comment: 29 pages, 13 figures, 8 tables, extended version of a paper in preparation for submission to a journa