Submodularity in Action: From Machine Learning to Signal Processing Applications

Submodularity is a discrete domain functional property that can be interpreted as mimicking the role of the well-known convexity/concavity properties in the continuous domain. Submodular functions exhibit strong structure that lead to efficient optimization algorithms with provable near-optimality guarantees. These characteristics, namely, efficiency and provable performance bounds, are of particular interest for signal processing (SP) and machine learning (ML) practitioners as a variety of discrete optimization problems are encountered in a wide range of applications. Conventionally, two general approaches exist to solve discrete problems: $(i)$ relaxation into the continuous domain to obtain an approximate solution, or $(ii)$ development of a tailored algorithm that applies directly in the discrete domain. In both approaches, worst-case performance guarantees are often hard to establish. Furthermore, they are often complex, thus not practical for large-scale problems. In this paper, we show how certain scenarios lend themselves to exploiting submodularity so as to construct scalable solutions with provable worst-case performance guarantees. We introduce a variety of submodular-friendly applications, and elucidate the relation of submodularity to convexity and concavity which enables efficient optimization. With a mixture of theory and practice, we present different flavors of submodularity accompanying illustrative real-world case studies from modern SP and ML. In all cases, optimization algorithms are presented, along with hints on how optimality guarantees can be established

Resilient Submodular Maximization For Control And Sensing

Fundamental applications in control, sensing, and robotics, motivate the design of systems by selecting system elements, such as actuators or sensors, subject to constraints that require the elements not only to be a few in number, but also, to satisfy heterogeneity or interdependency constraints (called matroid constraints). For example, consider the scenarios: - (Control) Actuator placement: In a power grid, how should we place a few generators both to guarantee its stabilization with minimal control effort, and to satisfy interdependency constraints where the power grid must be controllable from the generators? - (Sensing) Sensor placement: In medical brain-wearable devices, how should we place a few sensors to ensure smoothing estimation capabilities? - (Robotics) Sensor scheduling: At a team of mobile robots, which few on-board sensors should we activate at each robot ---subject to heterogeneity constraints on the number of sensors that each robot can activate at each time--- so both to maximize the robots\u27 battery life, and to ensure the robots\u27 capability to complete a formation control task? In the first part of this thesis we motivate the above design problems, and propose the first algorithms to address them. In particular, although traditional approaches to matroid-constrained maximization have met great success in machine learning and facility location, they are unable to meet the aforementioned problem of actuator placement. In addition, although traditional approaches to sensor selection enable Kalman filtering capabilities, they do not enable smoothing or formation control capabilities, as required in the above problems of sensor placement and scheduling. Therefore, in the first part of the thesis we provide the first algorithms, and prove they achieve the following characteristics: provable approximation performance: the algorithms guarantee a solution close to the optimal; minimal running time: the algorithms terminate with the same running time as state-of-the-art algorithms for matroid-constrained maximization; adaptiveness: where applicable, at each time step the algorithms select system elements based on both the history of selections. We achieve the above ends by taking advantage of a submodular structure of in all aforementioned problems ---submodularity is a diminishing property for set functions, parallel to convexity for continuous functions. But in failure-prone and adversarial environments, sensors and actuators can fail; sensors and actuators can get attacked. Thence, the traditional design paradigms over matroid-constraints become insufficient, and in contrast, resilient designs against attacks or failures become important. However, no approximation algorithms are known for their solution; relevantly, the problem of resilient maximization over matroid constraints is NP-hard. In the second part of this thesis we motivate the general problem of resilient maximization over matroid constraints, and propose the first algorithms to address it, to protect that way any design over matroid constraints, not only within the boundaries of control, sensing, and robotics, but also within machine learning, facility location, and matroid-constrained optimization in general. In particular, in the second part of this thesis we provide the first algorithms, and prove they achieve the following characteristics: resiliency: the algorithms are valid for any number of attacks or failures; adaptiveness: where applicable, at each time step the algorithms select system elements based on both the history of selections, and on the history of attacks or failures; provable approximation guarantees: the algorithms guarantee for any submodular or merely monotone function a solution close to the optimal; minimal running time: the algorithms terminate with the same running time as state-of-the-art algorithms for matroid-constrained maximization. We bound the performance of our algorithms by using notions of curvature for monotone (not necessarily submodular) set functions, which are established in the literature of submodular maximization. In the third and final part of this thesis we apply our tools for resilient maximization in robotics, and in particular, to the problem of active information gathering with mobile robots. This problem calls for the motion-design of a team of mobile robots so to enable the effective information gathering about a process of interest, to support, e.g., critical missions such as hazardous environmental monitoring, and search and rescue. Therefore, in the third part of this thesis we aim to protect such multi-robot information gathering tasks against attacks or failures that can result to the withdrawal of robots from the task. We conduct both numerical and hardware experiments in multi-robot multi-target tracking scenarios, and exemplify the benefits, as well as, the performance of our approach

Exploiting Structure In Combinatorial Problems With Applications In Computational Sustainability

Combinatorial decision and optimization problems are at the core of many tasks with practical importance in areas as diverse as planning and scheduling, supply chain management, hardware and software verification, electronic commerce, and computational biology. Another important source of combinatorial problems is the newly emerging field of computational sustainability, which addresses decision-making aimed at balancing social, economic and environmental needs to guarantee the long-term prosperity of life on our planet. This dissertation studies different forms of problem structure that can be exploited in developing scalable algorithmic techniques capable of addressing large real-world combinatorial problems. There are three major contributions in this work: 1) We study a form of hidden problem structure called a backdoor, a set of key decision variables that captures the combinatorics of the problem, and reveal that many real-world problems encoded as Boolean satisfiability or mixed-integer linear programs contain small backdoors. We study backdoors both theoretically and empirically and characterize important tradeoffs between the computational complexity of finding backdoors and their effectiveness in capturing problem structure succinctly. 2) We contribute several domain-specific mathematical formulations and algorithmic techniques that exploit specific aspects of problem structure arising in budget-constrained conservation planning for wildlife habitat connectivity. Our solution approaches scale to real-world conservation settings and provide important decision-support tools for cost-benefit analysis. 3) We propose a new survey-planning methodology to assist in the construction of accurate predictive models, which are especially relevant in sustainability areas such as species- distribution prediction and climate-change impact studies. In particular, we design a technique that takes advantage of submodularity, a structural property of the function to be optimized, and results in a polynomial-time procedure with approximation guarantees

Exploiting Local Optimality and Strong Inequalities for Solving Bilevel Combinatorial and Submodular Optimization Problems

Bilevel combinatorial and submodular optimization problems arise in a broad range of real-life applications including price setting, network design, information gathering, viral marketing, and so on. However, the current state-of-the-art solution approaches still have difficulties to solve them exactly for many broad classes of practically relevant problems. In this dissertation, using the concepts of local optimality and strong valid inequalities, we explore the fundamental mathematical structure of these problems and boost the computational performance of exact solution methods for these two important classes of optimization problems. In our initial study, we focus on a class of bilevel spanning tree (BST) problems, motivated by a hierarchical (namely, bilevel) generalization of the classical minimum spanning tree problem. We show that depending on the type of the objective function involved at each level, BST can be solved to optimality either in polynomial time by a specialized algorithm or via a mixed-integer linear programming (MILP) model solvable by an off-the-shelf solver. The latter case corresponds to an NP-hard class of the problem. Our second study proposes a hierarchy of upper and lower bounds for the bilevel problems, where the follower’s variables are all binary. In particular, we develop a generalized bilevel framework that explores the local optimality conditions at the lower level. Submodularity and disjunctive-based approach are then exploited to derive strong MILP formulations for the resulting framework. Computational experiments indicate that the quality of our newly proposed bounds is superior to the current standard approach. Furthermore, we generalize our aforementioned results for BST and show that the proposed bounds are sharp for bilevel matroid problems. Finally, to address the computational challenges in the submodular maximization problem, we present the polyhedral study of its mixed 0–1 set. Specifically, we strengthen some existing results in the literature by finding two families of facet-defining inequalities through the lens of sequence independent lifting. We further extend the scope of this work and describe the multi-dimensional sequence independent lifting for a more complex set. The developed polyhedral results complement the classical results from the literature for the mixed0–1 knapsack and single-node flow sets

Decision-making with gaussian processes: sampling strategies and monte carlo methods

We study Gaussian processes and their application to decision-making in the real world. We begin by reviewing the foundations of Bayesian decision theory and show how these ideas give rise to methods such as Bayesian optimization. We investigate practical techniques for carrying out these strategies, with an emphasis on estimating and maximizing acquisition functions. Finally, we introduce pathwise approaches to conditioning Gaussian processes and demonstrate key benefits for representing random variables in this manner.Open Acces