1,396 research outputs found
Active influence in dynamical models of structural balance in social networks
We consider a nonlinear dynamical system on a signed graph, which can be
interpreted as a mathematical model of social networks in which the links can
have both positive and negative connotations. In accordance with a concept from
social psychology called structural balance, the negative links play a key role
in both the structure and dynamics of the network. Recent research has shown
that in a nonlinear dynamical system modeling the time evolution of
"friendliness levels" in the network, two opposing factions emerge from almost
any initial condition. Here we study active external influence in this
dynamical model and show that any agent in the network can achieve any desired
structurally balanced state from any initial condition by perturbing its own
local friendliness levels. Based on this result, we also introduce a new
network centrality measure for signed networks. The results are illustrated in
an international relations network using United Nations voting record data from
1946 to 2008 to estimate friendliness levels amongst various countries.Comment: 7 pages, 3 figures, to appear in Europhysics Letters
(http://www.epletters.net
Distributed Model Predictive Consensus via the Alternating Direction Method of Multipliers
We propose a distributed optimization method for solving a distributed model
predictive consensus problem. The goal is to design a distributed controller
for a network of dynamical systems to optimize a coupled objective function
while respecting state and input constraints. The distributed optimization
method is an augmented Lagrangian method called the Alternating Direction
Method of Multipliers (ADMM), which was introduced in the 1970s but has seen a
recent resurgence in the context of dramatic increases in computing power and
the development of widely available distributed computing platforms. The method
is applied to position and velocity consensus in a network of double
integrators. We find that a few tens of ADMM iterations yield closed-loop
performance near what is achieved by solving the optimization problem
centrally. Furthermore, the use of recent code generation techniques for
solving local subproblems yields fast overall computation times.Comment: 7 pages, 5 figures, 50th Allerton Conference on Communication,
Control, and Computing, Monticello, IL, USA, 201
Submodularity of Energy Related Controllability Metrics
The quantification of controllability and observability has recently received
new interest in the context of large, complex networks of dynamical systems. A
fundamental but computationally difficult problem is the placement or selection
of actuators and sensors that optimize real-valued controllability and
observability metrics of the network. We show that several classes of energy
related metrics associated with the controllability Gramian in linear dynamical
systems have a strong structural property, called submodularity. This property
allows for an approximation guarantee by using a simple greedy heuristic for
their maximization. The results are illustrated for randomly generated systems
and for placement of power electronic actuators in a model of the European
power grid.Comment: 7 pages, 2 figures; submitted to the 2014 IEEE Conference on Decision
and Contro
On Submodularity and Controllability in Complex Dynamical Networks
Controllability and observability have long been recognized as fundamental
structural properties of dynamical systems, but have recently seen renewed
interest in the context of large, complex networks of dynamical systems. A
basic problem is sensor and actuator placement: choose a subset from a finite
set of possible placements to optimize some real-valued controllability and
observability metrics of the network. Surprisingly little is known about the
structure of such combinatorial optimization problems. In this paper, we show
that several important classes of metrics based on the controllability and
observability Gramians have a strong structural property that allows for either
efficient global optimization or an approximation guarantee by using a simple
greedy heuristic for their maximization. In particular, the mapping from
possible placements to several scalar functions of the associated Gramian is
either a modular or submodular set function. The results are illustrated on
randomly generated systems and on a problem of power electronic actuator
placement in a model of the European power grid.Comment: Original arXiv version of IEEE Transactions on Control of Network
Systems paper (Volume 3, Issue 1), with a addendum (located in the ancillary
documents) that explains an error in a proof of the original paper and
provides a counterexample to the corresponding resul
Approximate Dynamic Programming via Sum of Squares Programming
We describe an approximate dynamic programming method for stochastic control
problems on infinite state and input spaces. The optimal value function is
approximated by a linear combination of basis functions with coefficients as
decision variables. By relaxing the Bellman equation to an inequality, one
obtains a linear program in the basis coefficients with an infinite set of
constraints. We show that a recently introduced method, which obtains convex
quadratic value function approximations, can be extended to higher order
polynomial approximations via sum of squares programming techniques. An
approximate value function can then be computed offline by solving a
semidefinite program, without having to sample the infinite constraint. The
policy is evaluated online by solving a polynomial optimization problem, which
also turns out to be convex in some cases. We experimentally validate the
method on an autonomous helicopter testbed using a 10-dimensional helicopter
model.Comment: 7 pages, 5 figures. Submitted to the 2013 European Control
Conference, Zurich, Switzerlan
Distributionally Robust CVaR-Based Safety Filtering for Motion Planning in Uncertain Environments
Safety is a core challenge of autonomous robot motion planning, especially in
the presence of dynamic and uncertain obstacles. Many recent results use
learning and deep learning-based motion planners and prediction modules to
predict multiple possible obstacle trajectories and generate obstacle-aware ego
robot plans. However, planners that ignore the inherent uncertainties in such
predictions incur collision risks and lack formal safety guarantees. In this
paper, we present a computationally efficient safety filtering solution to
reduce the collision risk of ego robot motion plans using multiple samples of
obstacle trajectory predictions. The proposed approach reformulates the
collision avoidance problem by computing safe halfspaces based on obstacle
sample trajectories using distributionally robust optimization (DRO)
techniques. The safe halfspaces are used in a model predictive control
(MPC)-like safety filter to apply corrections to the reference ego trajectory
thereby promoting safer planning. The efficacy and computational efficiency of
our approach are demonstrated through numerical simulations
- …