5,205 research outputs found
Multitask Diffusion Adaptation over Networks
Adaptive networks are suitable for decentralized inference tasks, e.g., to
monitor complex natural phenomena. Recent research works have intensively
studied distributed optimization problems in the case where the nodes have to
estimate a single optimum parameter vector collaboratively. However, there are
many important applications that are multitask-oriented in the sense that there
are multiple optimum parameter vectors to be inferred simultaneously, in a
collaborative manner, over the area covered by the network. In this paper, we
employ diffusion strategies to develop distributed algorithms that address
multitask problems by minimizing an appropriate mean-square error criterion
with -regularization. The stability and convergence of the algorithm in
the mean and in the mean-square sense is analyzed. Simulations are conducted to
verify the theoretical findings, and to illustrate how the distributed strategy
can be used in several useful applications related to spectral sensing, target
localization, and hyperspectral data unmixing.Comment: 29 pages, 11 figures, submitted for publicatio
Robust H∞ filtering for markovian jump systems with randomly occurring nonlinearities and sensor saturation: The finite-horizon case
This article is posted with the permission of IEEE - Copyright @ 2011 IEEEThis paper addresses the robust H∞ filtering problem for a class of discrete time-varying Markovian jump systems with randomly occurring nonlinearities and sensor saturation. Two kinds of transition probability matrices for the Markovian process are considered, namely, the one with polytopic uncertainties and the one with partially unknown entries. The nonlinear disturbances are assumed to occur randomly according to stochastic variables satisfying the Bernoulli distributions. The main purpose of this paper is to design a robust filter, over a given finite-horizon, such that the H∞ disturbance attenuation level is guaranteed for the time-varying Markovian jump systems in the presence of both the randomly occurring nonlinearities and the sensor saturation. Sufficient conditions are established for the existence of the desired filter satisfying the H∞ performance constraint in terms of a set of recursive linear matrix inequalities. Simulation results demonstrate the effectiveness of the developed filter design scheme.This work was supported in part by the National Natural Science Foundation
of China under Grants 61028008, 60825303, and 61004067, National 973 Project under Grant 2009CB320600, the Key Laboratory of Integrated Automation for the Process Industry (Northeastern University) from the Ministry of Education of China, the Engineering and Physical Sciences Research Council (EPSRC) of the U.K., under Grant GR/S27658/01, the Royal Society of the
U.K., and the Alexander von Humboldt Foundation of Germany
Online semi-parametric learning for inverse dynamics modeling
This paper presents a semi-parametric algorithm for online learning of a
robot inverse dynamics model. It combines the strength of the parametric and
non-parametric modeling. The former exploits the rigid body dynamics equa-
tion, while the latter exploits a suitable kernel function. We provide an
extensive comparison with other methods from the literature using real data
from the iCub humanoid robot. In doing so we also compare two different
techniques, namely cross validation and marginal likelihood optimization, for
estimating the hyperparameters of the kernel function
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