相关论文: Submodularity in Systems with Higher Order Consens…
We consider the leader selection problem in a network with consensus dynamics where both leader and follower agents are subject to stochastic external disturbances. The performance of the system is quantified by the total steady-state…
Often times, in many design problems, there is a need to select a small set of informative or representative elements from a large ground set of entities in an optimal fashion. Submodular optimization that provides for a formal way to solve…
We study the performance of a network of agents tasked with tracking an external unknown signal in the presence of stochastic disturbances and under the condition that only a limited subset of agents, known as leaders, can measure the…
We consider the problem of identifying a subset of nodes in a network that will enable the fastest spread of information in a decentralized environment.In a model of communication based on a random walk on an undirected graph, the optimal…
A key problem in emerging complex cyber-physical networks is the design of information and control topologies, including sensor and actuator selection and communication network design. These problems can be posed as combinatorial set…
We study the performance of leader-follower noisy consensus networks, and in particular, the relationship between this performance and the locations of the leader nodes. Two types of dynamics are considered (1) noise-free leaders, in which…
Solving stochastic optimization problems under partial observability, where one needs to adaptively make decisions with uncertain outcomes, is a fundamental but notoriously difficult challenge. In this paper, we introduce the concept of…
The submodular maximization problem is widely applicable in many engineering problems where objectives exhibit diminishing returns. While this problem is known to be NP-hard for certain subclasses of objective functions, there is a greedy…
The maximization of submodular functions is an NP-Hard problem for certain subclasses of functions, for which a simple greedy algorithm has been shown to guarantee a solution whose quality is within 1/2 of the optimal. When this algorithm…
In this work, we study the multi-agent decision problem where agents try to coordinate to optimize a given system-level objective. While solving for the global optimal is intractable in many cases, the greedy algorithm is a well-studied and…
The greedy strategy is an approximation algorithm to solve optimization problems arising in decision making with multiple actions. How good is the greedy strategy compared to the optimal solution? In this survey, we mainly consider two…
Simultaneous operation of all sensors in a large-scale sensor network is power-consuming and computationally expensive. Hence, it is desirable to select fewer sensors. A greedy algorithm is widely used for sensor selection in homogeneous…
Many robotic systems deal with uncertainty by performing a sequence of information gathering actions. In this work, we focus on the problem of efficiently constructing such a sequence by drawing an explicit connection to submodularity.…
We consider the optimal coverage problem where a multi-agent network is deployed in an environment with obstacles to maximize a joint event detection probability. The objective function of this problem is non-convex and no global optimum is…
We consider how to connect a set of disjoint networks to optimize the performance of the resulting composite network. We quantify this performance by the coherence of the composite network, which is defined by an $H_2$ norm of the system.…
In many machine learning applications, one needs to interactively select a sequence of items (e.g., recommending movies based on a user's feedback) or make sequential decisions in a certain order (e.g., guiding an agent through a series of…
We propose a new concept named adaptive submodularity ratio to study the greedy policy for sequential decision making. While the greedy policy is known to perform well for a wide variety of adaptive stochastic optimization problems in…
This paper considers the distributed robust suboptimal consensus control problem of linear multi-agent systems, with both H2 and H_infty performance requirements. A novel two-step complementary design approach is proposed. In the first…
This paper presents a unified string-stability framework for leader-follower multi-agent systems governed by first-, second-, and m-th order consensus protocols operating under an r-predecessor directed communication topology. While string…
Understanding what governs collective robustness and how it can be enhanced remains a central pursuit in network science. This paper investigates the robustness of multi-agent consensus networks, quantified by the $H_2$ performance metric,…