24,385 research outputs found
Accelerated Consensus via Min-Sum Splitting
We apply the Min-Sum message-passing protocol to solve the consensus problem
in distributed optimization. We show that while the ordinary Min-Sum algorithm
does not converge, a modified version of it known as Splitting yields
convergence to the problem solution. We prove that a proper choice of the
tuning parameters allows Min-Sum Splitting to yield subdiffusive accelerated
convergence rates, matching the rates obtained by shift-register methods. The
acceleration scheme embodied by Min-Sum Splitting for the consensus problem
bears similarities with lifted Markov chains techniques and with multi-step
first order methods in convex optimization
Probabilistic and Distributed Control of a Large-Scale Swarm of Autonomous Agents
We present a novel method for guiding a large-scale swarm of autonomous
agents into a desired formation shape in a distributed and scalable manner. Our
Probabilistic Swarm Guidance using Inhomogeneous Markov Chains (PSG-IMC)
algorithm adopts an Eulerian framework, where the physical space is partitioned
into bins and the swarm's density distribution over each bin is controlled.
Each agent determines its bin transition probabilities using a
time-inhomogeneous Markov chain. These time-varying Markov matrices are
constructed by each agent in real-time using the feedback from the current
swarm distribution, which is estimated in a distributed manner. The PSG-IMC
algorithm minimizes the expected cost of the transitions per time instant,
required to achieve and maintain the desired formation shape, even when agents
are added to or removed from the swarm. The algorithm scales well with a large
number of agents and complex formation shapes, and can also be adapted for area
exploration applications. We demonstrate the effectiveness of this proposed
swarm guidance algorithm by using results of numerical simulations and hardware
experiments with multiple quadrotors.Comment: Submitted to IEEE Transactions on Robotic
An Optimal Medium Access Control with Partial Observations for Sensor Networks
We consider medium access control (MAC) in multihop sensor networks, where only partial information about the shared medium is available to the transmitter. We model our setting as a queuing problem in which the service rate of a queue is a function of a partially observed Markov chain representing the available bandwidth, and in which the arrivals are controlled based on the partial observations so as to keep the system in a desirable mildly unstable regime. The optimal controller for this problem satisfies a separation property: we first compute a probability measure on the state space of the chain, namely the information state, then use this measure as the new state on which the control decisions are based. We give a formal description of the system considered and of its dynamics, we formalize and solve an optimal control problem, and we show numerical simulations to illustrate with concrete examples properties of the optimal control law. We show how the ergodic behavior of our queuing model is characterized by an invariant measure over all possible information states, and we construct that measure. Our results can be specifically applied for designing efficient and stable algorithms for medium access control in multiple-accessed systems, in particular for sensor networks
Protein multi-scale organization through graph partitioning and robustness analysis: Application to the myosin-myosin light chain interaction
Despite the recognized importance of the multi-scale spatio-temporal
organization of proteins, most computational tools can only access a limited
spectrum of time and spatial scales, thereby ignoring the effects on protein
behavior of the intricate coupling between the different scales. Starting from
a physico-chemical atomistic network of interactions that encodes the structure
of the protein, we introduce a methodology based on multi-scale graph
partitioning that can uncover partitions and levels of organization of proteins
that span the whole range of scales, revealing biological features occurring at
different levels of organization and tracking their effect across scales.
Additionally, we introduce a measure of robustness to quantify the relevance of
the partitions through the generation of biochemically-motivated surrogate
random graph models. We apply the method to four distinct conformations of
myosin tail interacting protein, a protein from the molecular motor of the
malaria parasite, and study properties that have been experimentally addressed
such as the closing mechanism, the presence of conserved clusters, and the
identification through computational mutational analysis of key residues for
binding.Comment: 13 pages, 7 Postscript figure
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