10,210 research outputs found
GPU Based Path Integral Control with Learned Dynamics
We present an algorithm which combines recent advances in model based path
integral control with machine learning approaches to learning forward dynamics
models. We take advantage of the parallel computing power of a GPU to quickly
take a massive number of samples from a learned probabilistic dynamics model,
which we use to approximate the path integral form of the optimal control. The
resulting algorithm runs in a receding-horizon fashion in realtime, and is
subject to no restrictive assumptions about costs, constraints, or dynamics. A
simple change to the path integral control formulation allows the algorithm to
take model uncertainty into account during planning, and we demonstrate its
performance on a quadrotor navigation task. In addition to this novel
adaptation of path integral control, this is the first time that a
receding-horizon implementation of iterative path integral control has been run
on a real system.Comment: 6 pages, NIPS 2014 - Autonomously Learning Robots Worksho
Distributed coordination of self-organizing mechanisms in communication networks
The fast development of the Self-Organizing Network (SON) technology in
mobile networks renders the problem of coordinating SON functionalities
operating simultaneously critical. SON functionalities can be viewed as control
loops that may need to be coordinated to guarantee conflict free operation, to
enforce stability of the network and to achieve performance gain. This paper
proposes a distributed solution for coordinating SON functionalities. It uses
Rosen's concave games framework in conjunction with convex optimization. The
SON functionalities are modeled as linear Ordinary Differential Equation
(ODE)s. The stability of the system is first evaluated using a basic control
theory approach. The coordination solution consists in finding a linear map
(called coordination matrix) that stabilizes the system of SON functionalities.
It is proven that the solution remains valid in a noisy environment using
Stochastic Approximation. A practical example involving three different SON
functionalities deployed in Base Stations (BSs) of a Long Term Evolution (LTE)
network demonstrates the usefulness of the proposed method.Comment: submitted to IEEE TCNS. arXiv admin note: substantial text overlap
with arXiv:1209.123
Physics-Based Probabilistic Motion Compensation of Elastically Deformable Objects
A predictive tracking approach and a novel method for visual motion compensation are introduced, which accurately reconstruct and compensate the deformation of the elastic object, even in the case of complete measurement information loss. The core of the methods involves a probabilistic physical model of the object, from which all other mathematical models are systematically derived. Due to flexible adaptation of the models, the balance between their complexity and their accuracy is achieved
The Evolutionary Unfolding of Complexity
We analyze the population dynamics of a broad class of fitness functions that
exhibit epochal evolution---a dynamical behavior, commonly observed in both
natural and artificial evolutionary processes, in which long periods of stasis
in an evolving population are punctuated by sudden bursts of change. Our
approach---statistical dynamics---combines methods from both statistical
mechanics and dynamical systems theory in a way that offers an alternative to
current ``landscape'' models of evolutionary optimization. We describe the
population dynamics on the macroscopic level of fitness classes or phenotype
subbasins, while averaging out the genotypic variation that is consistent with
a macroscopic state. Metastability in epochal evolution occurs solely at the
macroscopic level of the fitness distribution. While a balance between
selection and mutation maintains a quasistationary distribution of fitness,
individuals diffuse randomly through selectively neutral subbasins in genotype
space. Sudden innovations occur when, through this diffusion, a genotypic
portal is discovered that connects to a new subbasin of higher fitness
genotypes. In this way, we identify innovations with the unfolding and
stabilization of a new dimension in the macroscopic state space. The
architectural view of subbasins and portals in genotype space clarifies how
frozen accidents and the resulting phenotypic constraints guide the evolution
to higher complexity.Comment: 28 pages, 5 figure
Time Complexity of Decentralized Fixed-Mode Verification
Given an interconnected system, this note is concerned with the time complexity of verifying whether an unrepeated mode of the system is a decentralized fixed mode (DFM). It is shown that checking the decentralized fixedness of any distinct mode is tantamount to testing the strong connectivity of a digraph formed based on the system. It is subsequently proved that the time complexity of this decision problem using the proposed approach is the same as the complexity of matrix multiplication. This work concludes that the identification of distinct DFMs (by means of a deterministic algorithm, rather than a randomized one) is computationally very easy, although the existing algorithms for solving this problem would wrongly imply that it is cumbersome. This note provides not only a complexity analysis, but also an efficient algorithm for tackling the underlying problem
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