Mobile edge computing (MEC) deployment in a multi-robot cooperation (MRC) system is an effective way to accomplish the tasks in terms of energy consumption and implementation latency. However, the computation and communication resources need to be considered jointly to fully exploit the advantages brought by the MEC technology. In this paper, the scenario where multi robots cooperate to accomplish the time-critical tasks is studied, where an intelligent master robot (MR) acts as an edge server to provide services to multiple slave robots (SRs) and the SRs are responsible for the environment sensing and data collection. To save energy and prolong the function time of the system, two schemes are proposed to optimize the computation and communication resources, respectively. In the first scheme, the energy consumption of SRs is minimized and balanced while guaranteeing that the tasks are accomplished under a time constraint. In the second scheme, not only the energy consumption, but also the remaining energies of the SRs are considered to enhance the robustness of the system. Through the analysis and numerical simulations, we demonstrate that even though the first policy may guarantee the minimization on the total SRs' energy consumption, the function time of MRC system by the second scheme is longer than that by the first one.
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In this study, we propose task planning framework for multiple robots that builds on a behavior tree (BT). BTs communicate with a data distribution service (DDS) to send and receive data. Since the standard BT derived from one root node with a single tick is unsuitable for multiple robots, a novel type of BT action and improved nodes are proposed to control multiple robots through a DDS asynchronously. To plan tasks for robots efficiently, a single task planning unit is implemented with the proposed task types. The task planning unit assigns tasks to each robot simultaneously through a single coalesced BT. If any robot falls into a fault while performing its assigned task, another BT embedded in the robot is executed; the robot enters the recovery mode in order to overcome the fault. To perform this function, the action in the BT corresponding to the task is defined as a variable, which is shared with the DDS so that any action can be exchanged between the task planning unit and robots. To show the feasibility of our framework in a real-world application, three mobile robots were experimentally coordinated for them to travel alternately to four goal positions by the proposed single task planning unit via a DDS.
The novel concept of non-orthogonal multiple access (NOMA) aided joint radar and multicast-unicast communication (Rad-MU-Com) is investigated. Employing the same spectrum resource, a multi-input-multi-output (MIMO) dual-functional radar-communication (DFRC) base station detects the radar-centric users (R-user), while transmitting mixed multicast-unicast messages both to the R-user and to the communication-centric user (C-user). In particular, the multicast information is intended for both the R- and C-users, whereas the unicast information is only intended for the C-user. More explicitly, NOMA is employed to facilitate this double spectrum sharing, where the multicast and unicast signals are superimposed in the power domain and the superimposed communication signals are also exploited as radar probing waveforms. First, a beamformer-based NOMA-aided joint Rad-MU-Com framework is proposed for the system having a single R-user and a single C-user. Based on this framework, the unicast rate maximization problem is formulated by optimizing the beamformers employed, while satisfying the rate requirement of multicast and the predefined accuracy of the radar beam pattern. The resultant non-convex optimization problem is solved by a penalty-based iterative algorithm to find a high-quality near-optimal solution. Next, the system is extended to the scenario of multiple pairs of R- and C-users, where a cluster-based NOMA-aided joint Rad-MU-Com framework is proposed. A joint beamformer design and power allocation optimization problem is formulated for the maximization of the sum of the unicast rate at each C-user, subject to the constraints on both the minimum multicast rate for each R&C pair and on accuracy of the radar beam pattern for detecting multiple R-users. The resultant joint optimization problem is efficiently solved by another penalty-based iterative algorithm developed.
As CPU clock speeds have stagnated, and high performance computers continue to have ever higher core counts, increased parallelism is needed to take advantage of these new architectures. Traditional serial time-marching schemes are a significant bottleneck, as many types of simulations require large numbers of time-steps which must be computed sequentially. Parallel in Time schemes, such as the Multigrid Reduction in Time (MGRIT) method, remedy this by parallelizing across time-steps, and have shown promising results for parabolic problems. However, chaotic problems have proved more difficult, since chaotic initial value problems are inherently ill-conditioned. MGRIT relies on a hierarchy of successively coarser time-grids to iteratively correct the solution on the finest time-grid, but due to the nature of chaotic systems, subtle inaccuracies on the coarser levels can lead to poor coarse-grid corrections. Here we propose a modification to nonlinear FAS multigrid, as well as a novel time-coarsening scheme, which together better capture long term behavior on coarse grids and greatly improve convergence of MGRIT for chaotic initial value problems. We provide supporting numerical results for the Lorenz system model problem.
Computation offloading is indispensable for mobile edge computing (MEC). It uses edge resources to enable intensive computations and save energy for resource-constrained devices. Existing works generally impose strong assumptions on radio channels and network queue sizes. However, practical MEC systems are subject to various uncertainties rendering these assumptions impractical. In this paper, we investigate the energy-efficient computation offloading problem by relaxing those common assumptions and considering intrinsic uncertainties in the network. Specifically, we minimize the worst-case expected energy consumption of a local device when executing a time-critical application modeled as a directed acyclic graph. We employ the extreme value theory to bound the occurrence probability of uncertain events. To solve the formulated problem, we develop an $\epsilon$-bounded approximation algorithm based on column generation. The proposed algorithm can efficiently identify a feasible solution that is less than (1+$\epsilon$) of the optimal one. We implement the proposed scheme on an Android smartphone and conduct extensive experiments using a real-world application. Experiment results corroborate that it will lead to lower energy consumption for the client device by considering the intrinsic uncertainties during computation offloading. The proposed computation offloading scheme also significantly outperforms other schemes in terms of energy saving.
The sixth generation (6G) mobile communication networks are expected to offer a new paradigm of cellular integrated sensing and communication (ISAC). However, due to the intrinsic difference between sensing and communication in terms of coverage requirement, current cellular networks that are deliberately planned mainly for communication coverage are difficult to achieve seamless sensing coverage. To address this issue, this paper studies the beamforming optimization towards seamless sensing coverage for a basic bi-static ISAC system, while ensuring that the communication requirements of multiple users equipment (UEs) are satisfied. Towards this end, an optimization problem is formulated to maximize the worst-case sensing signal-to-noise ratio (SNR) in a prescribed coverage region, subject to the signal-to-interference-plus-noise ratio (SINR) requirement for each UE. To gain some insights, we first investigate the special case with one single UE and one single sensing point, for which a closed-from expression of the optimal beamforming is obtained. For the general case with multiple communication UEs and contiguous regional sensing coverage, an efficient algorithm based on successive convex approximation (SCA) is proposed to solve the non-convex beamforming optimization problem. Numerical results demonstrate that the proposed design is able to achieve seamless sensing coverage in the prescribed region, while guaranteeing the communication requirements of the UEs.
Multi-robot systems such as swarms of aerial robots are naturally suited to offer additional flexibility, resilience, and robustness in several tasks compared to a single robot by enabling cooperation among the agents. To enhance the autonomous robot decision-making process and situational awareness, multi-robot systems have to coordinate their perception capabilities to collect, share, and fuse environment information among the agents in an efficient and meaningful way such to accurately obtain context-appropriate information or gain resilience to sensor noise or failures. In this paper, we propose a general-purpose Graph Neural Network (GNN) with the main goal to increase, in multi-robot perception tasks, single robots' inference perception accuracy as well as resilience to sensor failures and disturbances. We show that the proposed framework can address multi-view visual perception problems such as monocular depth estimation and semantic segmentation. Several experiments both using photo-realistic and real data gathered from multiple aerial robots' viewpoints show the effectiveness of the proposed approach in challenging inference conditions including images corrupted by heavy noise and camera occlusions or failures.
Most Deep Reinforcement Learning (Deep RL) algorithms require a prohibitively large number of training samples for learning complex tasks. Many recent works on speeding up Deep RL have focused on distributed training and simulation. While distributed training is often done on the GPU, simulation is not. In this work, we propose using GPU-accelerated RL simulations as an alternative to CPU ones. Using NVIDIA Flex, a GPU-based physics engine, we show promising speed-ups of learning various continuous-control, locomotion tasks. With one GPU and CPU core, we are able to train the Humanoid running task in less than 20 minutes, using 10-1000x fewer CPU cores than previous works. We also demonstrate the scalability of our simulator to multi-GPU settings to train more challenging locomotion tasks.
Autonomous urban driving navigation with complex multi-agent dynamics is under-explored due to the difficulty of learning an optimal driving policy. The traditional modular pipeline heavily relies on hand-designed rules and the pre-processing perception system while the supervised learning-based models are limited by the accessibility of extensive human experience. We present a general and principled Controllable Imitative Reinforcement Learning (CIRL) approach which successfully makes the driving agent achieve higher success rates based on only vision inputs in a high-fidelity car simulator. To alleviate the low exploration efficiency for large continuous action space that often prohibits the use of classical RL on challenging real tasks, our CIRL explores over a reasonably constrained action space guided by encoded experiences that imitate human demonstrations, building upon Deep Deterministic Policy Gradient (DDPG). Moreover, we propose to specialize adaptive policies and steering-angle reward designs for different control signals (i.e. follow, straight, turn right, turn left) based on the shared representations to improve the model capability in tackling with diverse cases. Extensive experiments on CARLA driving benchmark demonstrate that CIRL substantially outperforms all previous methods in terms of the percentage of successfully completed episodes on a variety of goal-directed driving tasks. We also show its superior generalization capability in unseen environments. To our knowledge, this is the first successful case of the learned driving policy through reinforcement learning in the high-fidelity simulator, which performs better-than supervised imitation learning.
In this work, we consider the distributed optimization of non-smooth convex functions using a network of computing units. We investigate this problem under two regularity assumptions: (1) the Lipschitz continuity of the global objective function, and (2) the Lipschitz continuity of local individual functions. Under the local regularity assumption, we provide the first optimal first-order decentralized algorithm called multi-step primal-dual (MSPD) and its corresponding optimal convergence rate. A notable aspect of this result is that, for non-smooth functions, while the dominant term of the error is in $O(1/\sqrt{t})$, the structure of the communication network only impacts a second-order term in $O(1/t)$, where $t$ is time. In other words, the error due to limits in communication resources decreases at a fast rate even in the case of non-strongly-convex objective functions. Under the global regularity assumption, we provide a simple yet efficient algorithm called distributed randomized smoothing (DRS) based on a local smoothing of the objective function, and show that DRS is within a $d^{1/4}$ multiplicative factor of the optimal convergence rate, where $d$ is the underlying dimension.
Network Virtualization is one of the most promising technologies for future networking and considered as a critical IT resource that connects distributed, virtualized Cloud Computing services and different components such as storage, servers and application. Network Virtualization allows multiple virtual networks to coexist on same shared physical infrastructure simultaneously. One of the crucial keys in Network Virtualization is Virtual Network Embedding, which provides a method to allocate physical substrate resources to virtual network requests. In this paper, we investigate Virtual Network Embedding strategies and related issues for resource allocation of an Internet Provider(InP) to efficiently embed virtual networks that are requested by Virtual Network Operators(VNOs) who share the same infrastructure provided by the InP. In order to achieve that goal, we design a heuristic Virtual Network Embedding algorithm that simultaneously embeds virtual nodes and virtual links of each virtual network request onto physic infrastructure. Through extensive simulations, we demonstrate that our proposed scheme improves significantly the performance of Virtual Network Embedding by enhancing the long-term average revenue as well as acceptance ratio and resource utilization of virtual network requests compared to prior algorithms.
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