91,212 research outputs found
Optimal byzantine resilient convergence in oblivious robot networks
Given a set of robots with arbitrary initial location and no agreement on a
global coordinate system, convergence requires that all robots asymptotically
approach the exact same, but unknown beforehand, location. Robots are
oblivious-- they do not recall the past computations -- and are allowed to move
in a one-dimensional space. Additionally, robots cannot communicate directly,
instead they obtain system related information only via visual sensors. We draw
a connection between the convergence problem in robot networks, and the
distributed \emph{approximate agreement} problem (that requires correct
processes to decide, for some constant , values distance
apart and within the range of initial proposed values). Surprisingly, even
though specifications are similar, the convergence implementation in robot
networks requires specific assumptions about synchrony and Byzantine
resilience. In more details, we prove necessary and sufficient conditions for
the convergence of mobile robots despite a subset of them being Byzantine (i.e.
they can exhibit arbitrary behavior). Additionally, we propose a deterministic
convergence algorithm for robot networks and analyze its correctness and
complexity in various synchrony settings. The proposed algorithm tolerates f
Byzantine robots for (2f+1)-sized robot networks in fully synchronous networks,
(3f+1)-sized in semi-synchronous networks. These bounds are optimal for the
class of cautious algorithms, which guarantee that correct robots always move
inside the range of positions of the correct robots
Vision-based reinforcement learning using approximate policy iteration
A major issue for reinforcement learning (RL) applied to robotics is the time required to learn a new skill. While RL has been used to learn mobile robot control in many simulated domains, applications involving learning on real
robots are still relatively rare. In this paper, the Least-Squares Policy Iteration (LSPI) reinforcement learning algorithm and a new model-based algorithm Least-Squares Policy Iteration with Prioritized Sweeping (LSPI+), are implemented on a mobile robot to acquire new skills quickly and efficiently. LSPI+ combines the benefits of LSPI and prioritized sweeping, which uses all previous experience to focus the computational effort on the most “interesting” or dynamic parts of the state space.
The proposed algorithms are tested on a household vacuum
cleaner robot for learning a docking task using vision as the only sensor modality. In experiments these algorithms are compared to other model-based and model-free RL algorithms. The results show that the number of trials required to learn the docking task is significantly reduced using LSPI compared to the other RL algorithms investigated, and that LSPI+ further improves on the performance of LSPI
Will 5G See its Blind Side? Evolving 5G for Universal Internet Access
Internet has shown itself to be a catalyst for economic growth and social
equity but its potency is thwarted by the fact that the Internet is off limits
for the vast majority of human beings. Mobile phones---the fastest growing
technology in the world that now reaches around 80\% of humanity---can enable
universal Internet access if it can resolve coverage problems that have
historically plagued previous cellular architectures (2G, 3G, and 4G). These
conventional architectures have not been able to sustain universal service
provisioning since these architectures depend on having enough users per cell
for their economic viability and thus are not well suited to rural areas (which
are by definition sparsely populated). The new generation of mobile cellular
technology (5G), currently in a formative phase and expected to be finalized
around 2020, is aimed at orders of magnitude performance enhancement. 5G offers
a clean slate to network designers and can be molded into an architecture also
amenable to universal Internet provisioning. Keeping in mind the great social
benefits of democratizing Internet and connectivity, we believe that the time
is ripe for emphasizing universal Internet provisioning as an important goal on
the 5G research agenda. In this paper, we investigate the opportunities and
challenges in utilizing 5G for global access to the Internet for all (GAIA). We
have also identified the major technical issues involved in a 5G-based GAIA
solution and have set up a future research agenda by defining open research
problems
Local Approximation Schemes for Ad Hoc and Sensor Networks
We present two local approaches that yield polynomial-time approximation schemes (PTAS) for the Maximum Independent Set and Minimum Dominating Set problem in unit disk graphs. The algorithms run locally in each node and compute a (1+ε)-approximation to the problems at hand for any given ε > 0. The time complexity of both algorithms is O(TMIS + log*! n/εO(1)), where TMIS is the time required to compute a maximal independent set in the graph, and n denotes the number of nodes. We then extend these results to a more general class of graphs in which the maximum number of pair-wise independent nodes in every r-neighborhood is at most polynomial in r. Such graphs of polynomially bounded growth are introduced as a more realistic model for wireless networks and they generalize existing models, such as unit disk graphs or coverage area graphs
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