Distributed convex optimization via continuous-time coordination algorithms with discrete-time communication

This paper proposes a novel class of distributed continuous-time coordination algorithms to solve network optimization problems whose cost function is a sum of local cost functions associated to the individual agents. We establish the exponential convergence of the proposed algorithm under (i) strongly connected and weight-balanced digraph topologies when the local costs are strongly convex with globally Lipschitz gradients, and (ii) connected graph topologies when the local costs are strongly convex with locally Lipschitz gradients. When the local cost functions are convex and the global cost function is strictly convex, we establish asymptotic convergence under connected graph topologies. We also characterize the algorithm's correctness under time-varying interaction topologies and study its privacy preservation properties. Motivated by practical considerations, we analyze the algorithm implementation with discrete-time communication. We provide an upper bound on the stepsize that guarantees exponential convergence over connected graphs for implementations with periodic communication. Building on this result, we design a provably-correct centralized event-triggered communication scheme that is free of Zeno behavior. Finally, we develop a distributed, asynchronous event-triggered communication scheme that is also free of Zeno with asymptotic convergence guarantees. Several simulations illustrate our results.Comment: 12 page

Cooperative localization for mobile agents: a recursive decentralized algorithm based on Kalman filter decoupling

We consider cooperative localization technique for mobile agents with communication and computation capabilities. We start by provide and overview of different decentralization strategies in the literature, with special focus on how these algorithms maintain an account of intrinsic correlations between state estimate of team members. Then, we present a novel decentralized cooperative localization algorithm that is a decentralized implementation of a centralized Extended Kalman Filter for cooperative localization. In this algorithm, instead of propagating cross-covariance terms, each agent propagates new intermediate local variables that can be used in an update stage to create the required propagated cross-covariance terms. Whenever there is a relative measurement in the network, the algorithm declares the agent making this measurement as the interim master. By acquiring information from the interim landmark, the agent the relative measurement is taken from, the interim master can calculate and broadcast a set of intermediate variables which each robot can then use to update its estimates to match that of a centralized Extended Kalman Filter for cooperative localization. Once an update is done, no further communication is needed until the next relative measurement

Limitations on quantum control

In this note we give an introduction to the topic of quantum control, explaining what its objectives are, and describing some of its limitations.Comment: 6 page

Source Behavior for ATM ABR Traffic Management: An Explanation

The Available Bit Rate (ABR) service has been developed to support data applications over Asynchronous Transfer Mode (ATM) networks. The network continuously monitors its traffic and provides feedback to the source end systems. This paper explains the rules that the sources have to follow to achieve a fair and efficient allocation of network resources.Comment: IEEE Communications Magazine, November 1, 1996, vol 34, no11, pp50-5

The functionalization of carbon nanotubes using a batch oscillatory flow reactor

This paper describes an efficient method for the functionalizing of multi-walled carbon nanotubes (MWCNT) using oscillatory flow mixing (OFM). A 3. l batch oscillatory flow reactor (OFR) was designed and constructed for pilot scale functionalization of MWCNT in order to potentially improve their compatibility within a thermoplastic polyphenylene sulphide (PPS) matrix. The OFM batch reactor consisted of a jacketed cylindrical vessel with a vertical axial oscillator that contained a series of baffled mixing plates. MWCNTs dispersed in dimethylformamide (DMF) were introduced into the reactor and a two stage reaction for functionalizing MWCNTs with PPS compatible groups was carried out under oscillation of baffles at elevated temperatures. Fluid mixing observations in the reactor showed that MWCNTs formed a uniform dispersion of aggregated flocs before and during the functionalization reaction. On completion of the reaction and cessation of the oscillation, the aggregated flocs of MWCNT rapidly sedimented at the bottom of the reactor; hence could be collected as a concentrated mass thereby facilitating the separation of functionalized MWCNTs from the solvent. The functionalized MWCNTs were dried and then characterized by transmission electron microscopy, infrared spectroscopy as well as thermal gravimetric analysis in order to investigate the extent of MWCNT functionalization. The characterization results confirmed the effective and relatively uniform functionalization of the MWCNTs despite formation of aggregates, indicating that OFM provides a viable approach for functionalizing MWCNTs