43,898 research outputs found
Moment-Sum-Of-Squares Approach For Fast Risk Estimation In Uncertain Environments
In this paper, we address the risk estimation problem where one aims at
estimating the probability of violation of safety constraints for a robot in
the presence of bounded uncertainties with arbitrary probability distributions.
In this problem, an unsafe set is described by level sets of polynomials that
is, in general, a non-convex set. Uncertainty arises due to the probabilistic
parameters of the unsafe set and probabilistic states of the robot. To solve
this problem, we use a moment-based representation of probability
distributions. We describe upper and lower bounds of the risk in terms of a
linear weighted sum of the moments. Weights are coefficients of a univariate
Chebyshev polynomial obtained by solving a sum-of-squares optimization problem
in the offline step. Hence, given a finite number of moments of probability
distributions, risk can be estimated in real-time. We demonstrate the
performance of the provided approach by solving probabilistic collision
checking problems where we aim to find the probability of collision of a robot
with a non-convex obstacle in the presence of probabilistic uncertainties in
the location of the robot and size, location, and geometry of the obstacle.Comment: 57th IEEE Conference on Decision and Control 201
Tight Size-Degree Bounds for Sums-of-Squares Proofs
We exhibit families of -CNF formulas over variables that have
sums-of-squares (SOS) proofs of unsatisfiability of degree (a.k.a. rank)
but require SOS proofs of size for values of from
constant all the way up to for some universal constant.
This shows that the running time obtained by using the Lasserre
semidefinite programming relaxations to find degree- SOS proofs is optimal
up to constant factors in the exponent. We establish this result by combining
-reductions expressible as low-degree SOS derivations with the
idea of relativizing CNF formulas in [Kraj\'i\v{c}ek '04] and [Dantchev and
Riis'03], and then applying a restriction argument as in [Atserias, M\"uller,
and Oliva '13] and [Atserias, Lauria, and Nordstr\"om '14]. This yields a
generic method of amplifying SOS degree lower bounds to size lower bounds, and
also generalizes the approach in [ALN14] to obtain size lower bounds for the
proof systems resolution, polynomial calculus, and Sherali-Adams from lower
bounds on width, degree, and rank, respectively
A probabilistic interpretation of set-membership filtering: application to polynomial systems through polytopic bounding
Set-membership estimation is usually formulated in the context of set-valued
calculus and no probabilistic calculations are necessary. In this paper, we
show that set-membership estimation can be equivalently formulated in the
probabilistic setting by employing sets of probability measures. Inference in
set-membership estimation is thus carried out by computing expectations with
respect to the updated set of probability measures P as in the probabilistic
case. In particular, it is shown that inference can be performed by solving a
particular semi-infinite linear programming problem, which is a special case of
the truncated moment problem in which only the zero-th order moment is known
(i.e., the support). By writing the dual of the above semi-infinite linear
programming problem, it is shown that, if the nonlinearities in the measurement
and process equations are polynomial and if the bounding sets for initial
state, process and measurement noises are described by polynomial inequalities,
then an approximation of this semi-infinite linear programming problem can
efficiently be obtained by using the theory of sum-of-squares polynomial
optimization. We then derive a smart greedy procedure to compute a polytopic
outer-approximation of the true membership-set, by computing the minimum-volume
polytope that outer-bounds the set that includes all the means computed with
respect to P
The power of sum-of-squares for detecting hidden structures
We study planted problems---finding hidden structures in random noisy
inputs---through the lens of the sum-of-squares semidefinite programming
hierarchy (SoS). This family of powerful semidefinite programs has recently
yielded many new algorithms for planted problems, often achieving the best
known polynomial-time guarantees in terms of accuracy of recovered solutions
and robustness to noise. One theme in recent work is the design of spectral
algorithms which match the guarantees of SoS algorithms for planted problems.
Classical spectral algorithms are often unable to accomplish this: the twist in
these new spectral algorithms is the use of spectral structure of matrices
whose entries are low-degree polynomials of the input variables. We prove that
for a wide class of planted problems, including refuting random constraint
satisfaction problems, tensor and sparse PCA, densest-k-subgraph, community
detection in stochastic block models, planted clique, and others, eigenvalues
of degree-d matrix polynomials are as powerful as SoS semidefinite programs of
roughly degree d. For such problems it is therefore always possible to match
the guarantees of SoS without solving a large semidefinite program. Using
related ideas on SoS algorithms and low-degree matrix polynomials (and inspired
by recent work on SoS and the planted clique problem by Barak et al.), we prove
new nearly-tight SoS lower bounds for the tensor and sparse principal component
analysis problems. Our lower bounds for sparse principal component analysis are
the first to suggest that going beyond existing algorithms for this problem may
require sub-exponential time
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