Gossip Algorithms for Distributed Signal Processing

Gossip algorithms are attractive for in-network processing in sensor networks because they do not require any specialized routing, there is no bottleneck or single point of failure, and they are robust to unreliable wireless network conditions. Recently, there has been a surge of activity in the computer science, control, signal processing, and information theory communities, developing faster and more robust gossip algorithms and deriving theoretical performance guarantees. This article presents an overview of recent work in the area. We describe convergence rate results, which are related to the number of transmitted messages and thus the amount of energy consumed in the network for gossiping. We discuss issues related to gossiping over wireless links, including the effects of quantization and noise, and we illustrate the use of gossip algorithms for canonical signal processing tasks including distributed estimation, source localization, and compression.Comment: Submitted to Proceedings of the IEEE, 29 page

Localization of Sound Sources in a Room with One Microphone

Estimation of the location of sound sources is usually done using microphone arrays. Such settings provide an environment where we know the difference between the received signals among different microphones in the terms of phase or attenuation, which enables localization of the sound sources. In our solution we exploit the properties of the room transfer function in order to localize a sound source inside a room with only one microphone. The shape of the room and the position of the microphone are assumed to be known. The design guidelines and limitations of the sensing matrix are given. Implementation is based on the sparsity in the terms of voxels in a room that are occupied by a source. What is especially interesting about our solution is that we provide localization of the sound sources not only in the horizontal plane, but in the terms of the 3D coordinates inside the room

Distributed Algorithms for Stochastic Source Seeking With Mobile Robot Networks

Autonomous robot networks are an effective tool for monitoring large-scale environmental fields. This paper proposes distributed control strategies for localizing the source of a noisy signal, which could represent a physical quantity of interest such as magnetic force, heat, radio signal, or chemical concentration. We develop algorithms specific to two scenarios: one in which the sensors have a precise model of the signal formation process and one in which a signal model is not available. In the model-free scenario, a team of sensors is used to follow a stochastic gradient of the signal field. Our approach is distributed, robust to deformations in the group geometry, does not necessitate global localization, and is guaranteed to lead the sensors to a neighborhood of a local maximum of the field. In the model-based scenario, the sensors follow a stochastic gradient of the mutual information (MI) between their expected measurements and the expected source location in a distributed manner. The performance is demonstrated in simulation using a robot sensor network to localize the source of a wireless radio signal

Dissipative Continuous Spontaneous Localization (CSL) model

Collapse models explain the absence of quantum superpositions at the macroscopic scale, while giving practically the same predictions as quantum mechanics for microscopic systems. The Continuous Spontaneous Localization (CSL) model is the most refined and studied among collapse models. A well-known problem of this model, and of similar ones, is the steady and unlimited increase of the energy induced by the collapse noise. Here we present the dissipative version of the CSL model, which guarantees a finite energy during the entire system's evolution, thus making a crucial step toward a realistic energy-conserving collapse model. This is achieved by introducing a non-linear stochastic modification of the Schr\"odinger equation, which represents the action of a dissipative finite-temperature collapse noise. The possibility to introduce dissipation within collapse models in a consistent way will have relevant impact on the experimental investigations of the CSL model, and therefore also on the testability of the quantum superposition principle.Comment: 11 pages, 1 figure; v2 title changed, closer to published versio

Feature-Guided Black-Box Safety Testing of Deep Neural Networks

Despite the improved accuracy of deep neural networks, the discovery of adversarial examples has raised serious safety concerns. Most existing approaches for crafting adversarial examples necessitate some knowledge (architecture, parameters, etc.) of the network at hand. In this paper, we focus on image classifiers and propose a feature-guided black-box approach to test the safety of deep neural networks that requires no such knowledge. Our algorithm employs object detection techniques such as SIFT (Scale Invariant Feature Transform) to extract features from an image. These features are converted into a mutable saliency distribution, where high probability is assigned to pixels that affect the composition of the image with respect to the human visual system. We formulate the crafting of adversarial examples as a two-player turn-based stochastic game, where the first player's objective is to minimise the distance to an adversarial example by manipulating the features, and the second player can be cooperative, adversarial, or random. We show that, theoretically, the two-player game can con- verge to the optimal strategy, and that the optimal strategy represents a globally minimal adversarial image. For Lipschitz networks, we also identify conditions that provide safety guarantees that no adversarial examples exist. Using Monte Carlo tree search we gradually explore the game state space to search for adversarial examples. Our experiments show that, despite the black-box setting, manipulations guided by a perception-based saliency distribution are competitive with state-of-the-art methods that rely on white-box saliency matrices or sophisticated optimization procedures. Finally, we show how our method can be used to evaluate robustness of neural networks in safety-critical applications such as traffic sign recognition in self-driving cars.Comment: 35 pages, 5 tables, 23 figure

Distributed Learning with Infinitely Many Hypotheses

We consider a distributed learning setup where a network of agents sequentially access realizations of a set of random variables with unknown distributions. The network objective is to find a parametrized distribution that best describes their joint observations in the sense of the Kullback-Leibler divergence. Apart from recent efforts in the literature, we analyze the case of countably many hypotheses and the case of a continuum of hypotheses. We provide non-asymptotic bounds for the concentration rate of the agents' beliefs around the correct hypothesis in terms of the number of agents, the network parameters, and the learning abilities of the agents. Additionally, we provide a novel motivation for a general set of distributed Non-Bayesian update rules as instances of the distributed stochastic mirror descent algorithm.Comment: Submitted to CDC201

Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age

Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications, and witnessing a steady transition of this technology to industry. We survey the current state of SLAM. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved