11,508 research outputs found
Dynamic Quantized Consensus of General Linear Multi-agent Systems under Denial-of-Service Attacks
In this paper, we study multi-agent consensus problems under
Denial-of-Service (DoS) attacks with data rate constraints. We first consider
the leaderless consensus problem and after that we briefly present the analysis
of leader-follower consensus. The dynamics of the agents take general forms
modeled as homogeneous linear time-invariant systems. In our analysis, we
derive lower bounds on the data rate for the multi-agent systems to achieve
leaderless and leader-follower consensus in the presence of DoS attacks, under
which the issue of overflow of quantizer is prevented. The main contribution of
the paper is the characterization of the trade-off between the tolerable DoS
attack levels for leaderless and leader-follower consensus and the required
data rates for the quantizers during the communication attempts among the
agents. To mitigate the influence of DoS attacks, we employ dynamic
quantization with zooming-in and zooming-out capabilities for avoiding
quantizer saturation
Self-triggered Consensus of Multi-agent Systems with Quantized Relative State Measurements
This paper addresses the consensus problem of first-order continuous-time
multi-agent systems over undirected graphs. Each agent samples relative state
measurements in a self-triggered fashion and transmits the sum of the
measurements to its neighbors. Moreover, we use finite-level dynamic quantizers
and apply the zooming-in technique. The proposed joint design method for
quantization and self-triggered sampling achieves asymptotic consensus, and
inter-event times are strictly positive. Sampling times are determined
explicitly with iterative procedures including the computation of the Lambert
-function. A simulation example is provided to illustrate the effectiveness
of the proposed method.Comment: 29 pages, 3 figures. To appear in IET Control Theory & Application
Adaptive Contract Design for Crowdsourcing Markets: Bandit Algorithms for Repeated Principal-Agent Problems
Crowdsourcing markets have emerged as a popular platform for matching
available workers with tasks to complete. The payment for a particular task is
typically set by the task's requester, and may be adjusted based on the quality
of the completed work, for example, through the use of "bonus" payments. In
this paper, we study the requester's problem of dynamically adjusting
quality-contingent payments for tasks. We consider a multi-round version of the
well-known principal-agent model, whereby in each round a worker makes a
strategic choice of the effort level which is not directly observable by the
requester. In particular, our formulation significantly generalizes the
budget-free online task pricing problems studied in prior work.
We treat this problem as a multi-armed bandit problem, with each "arm"
representing a potential contract. To cope with the large (and in fact,
infinite) number of arms, we propose a new algorithm, AgnosticZooming, which
discretizes the contract space into a finite number of regions, effectively
treating each region as a single arm. This discretization is adaptively
refined, so that more promising regions of the contract space are eventually
discretized more finely. We analyze this algorithm, showing that it achieves
regret sublinear in the time horizon and substantially improves over
non-adaptive discretization (which is the only competing approach in the
literature).
Our results advance the state of art on several different topics: the theory
of crowdsourcing markets, principal-agent problems, multi-armed bandits, and
dynamic pricing.Comment: This is the full version of a paper in the ACM Conference on
Economics and Computation (ACM-EC), 201
Bridging Between Computer and Robot Vision Through Data Augmentation: A Case Study on Object Recognition
Despite the impressive progress brought by deep network in visual object recognition, robot vision is still far from being a solved problem. The most successful convolutional architectures are developed starting from ImageNet, a large scale collection of images of object categories downloaded from the Web. This kind of images is very different from the situated and embodied visual experience of robots deployed in unconstrained settings. To reduce the gap between these two visual experiences, this paper proposes a simple yet effective data augmentation layer that zooms on the object of interest and simulates the object detection outcome of a robot vision system. The layer, that can be used with any convolutional deep architecture, brings to an increase in object recognition performance of up to 7{\%}, in experiments performed over three different benchmark databases. An implementation of our robot data augmentation layer has been made publicly available
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