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Scaling to arbitrarily large bundle adjustment problems requires data and compute to be distributed across multiple devices. Centralized methods in prior works are only able to solve small or medium size problems due to overhead in computation and communication. In this paper, we present a fully decentralized method that alleviates computation and communication bottlenecks to solve arbitrarily large bundle adjustment problems. We achieve this by reformulating the reprojection error and deriving a novel surrogate function that decouples optimization variables from different devices. This function makes it possible to use majorization minimization techniques and reduces bundle adjustment to independent optimization subproblems that can be solved in parallel. We further apply Nesterov's acceleration and adaptive restart to improve convergence while maintaining its theoretical guarantees. Despite limited peer-to-peer communication, our method has provable convergence to first-order critical points under mild conditions. On extensive benchmarks with public datasets, our method converges much faster than decentralized baselines with similar memory usage and communication load. Compared to centralized baselines using a single device, our method, while being decentralized, yields more accurate solutions with significant speedups of up to 940.7x over Ceres and 175.2x over DeepLM. Code: //github.com/facebookresearch/DBA.

We propose a federated learning (FL) in stratosphere (FLSTRA) system, where a high altitude platform station (HAPS) facilitates a large number of terrestrial clients to collaboratively learn a global model without sharing the training data. FLSTRA overcomes the challenges faced by FL in terrestrial networks, such as slow convergence and high communication delay due to limited client participation and multi-hop communications. HAPS leverages its altitude and size to allow the participation of more clients with line-of-sight (LOS) links and the placement of a powerful server. However, handling many clients at once introduces computing and transmission delays. Thus, we aim to obtain a delay-accuracy trade-off for FLSTRA. Specifically, we first develop a joint client selection and resource allocation algorithm for uplink and downlink to minimize the FL delay subject to the energy and quality-of-service (QoS) constraints. Second, we propose a communication and computation resource-aware (CCRA-FL) algorithm to achieve the target FL accuracy while deriving an upper bound for its convergence rate. The formulated problem is non-convex; thus, we propose an iterative algorithm to solve it. Simulation results demonstrate the effectiveness of the proposed FLSTRA system, compared to terrestrial benchmarks, in terms of FL delay and accuracy.

Decentralized multi-agent reinforcement learning (MARL) algorithms have become popular in the literature since it allows heterogeneous agents to have their own reward functions as opposed to canonical multi-agent Markov Decision Process (MDP) settings which assume common reward functions over all agents. In this work, we follow the existing work on collaborative MARL where agents in a connected time varying network can exchange information among each other in order to reach a consensus. We introduce vulnerabilities in the consensus updates of existing MARL algorithms where agents can deviate from their usual consensus update, who we term as adversarial agents. We then proceed to provide an algorithm that allows non-adversarial agents to reach a consensus in the presence of adversaries under a constrained setting.

Channel splicing is a rather new and very promising concept. It allows to realize a wideband channel sounder by combining multiple narrow-band measurements. Among others, channel splicing is a sparse sensing techniques suggested for use in joint communication and sensing (JCAS), channel measurements and prediction using cheap hardware that cannot measure wideband channels directly such as in the internet of things (IoT). This work validates the practicality of a channel splicing technique by integrating it into an OFDM-based IEEE 802.11ac system, which we consider representative for many IoT solutions. Our system allows computing both the channel impulse response (CIR) and the channel frequency response (CFR). In this paper, we concentrate on the impact of the number of sub-bands in our study and show that even using only 50% of the overall spectrum leads to very accurate CIR measures. We validate the system in simulation and confirm the results in an experimental in-door scenario using software defined radios.

In this paper, we address the optimization problem of moments of Age of Information (AoI) for active and passive users in a random access network. In this network, active users broadcast sensing data while passive users only receive signals. Collisions occur when multiple active users transmit simultaneously, and passive users are unable to receive signals while any active user is transmitting. Each active user follows a Markov process for their transmissions. We aim to minimize the weighted sum of any moments of AoI for both active and passive users in this network. To achieve this, we employ a second-order analysis to analyze the system. Specifically, we characterize an active user's transmission Markov process by its mean and temporal process. We show that any moment of the AoI can be expressed a function of the mean and temporal variance, which, in turn, enables us to derive the optimal transmission Markov process. Our simulation results demonstrate that this proposed strategy outperforms other baseline policies that use different active user transmission models.

We consider the linearized elasticity equation, discretized with multi-patch Isogeometric Analysis. A standard discretization error analysis is based on Korn's inequality, which degrades for certain geometries, such as long and thin cantilevers. This phenomenon is known as geometry locking. We observe that high-order methods, like Isogeometric Analysis is beneficial in such a setting. The main focus of this paper is the construction and analysis of a domain decomposition solver, namely an Isogeometric Tearing and Interconnecting (IETI) solver, where we prove that the convergence behavior does not depend on the constant of Korn's inequality for the overall domain, but only on the corresponding constants for the individual patches. Moreover, our analysis is explicit in the choice of the spline degree. Numerical experiments are provided which demonstrates the efficiency of the proposed solver.

This manuscript portrays optimization as a process. In many practical applications the environment is so complex that it is infeasible to lay out a comprehensive theoretical model and use classical algorithmic theory and mathematical optimization. It is necessary as well as beneficial to take a robust approach, by applying an optimization method that learns as one goes along, learning from experience as more aspects of the problem are observed. This view of optimization as a process has become prominent in varied fields and has led to some spectacular success in modeling and systems that are now part of our daily lives.

Effective multi-robot teams require the ability to move to goals in complex environments in order to address real-world applications such as search and rescue. Multi-robot teams should be able to operate in a completely decentralized manner, with individual robot team members being capable of acting without explicit communication between neighbors. In this paper, we propose a novel game theoretic model that enables decentralized and communication-free navigation to a goal position. Robots each play their own distributed game by estimating the behavior of their local teammates in order to identify behaviors that move them in the direction of the goal, while also avoiding obstacles and maintaining team cohesion without collisions. We prove theoretically that generated actions approach a Nash equilibrium, which also corresponds to an optimal strategy identified for each robot. We show through extensive simulations that our approach enables decentralized and communication-free navigation by a multi-robot system to a goal position, and is able to avoid obstacles and collisions, maintain connectivity, and respond robustly to sensor noise.

Conventional unsupervised multi-source domain adaptation (UMDA) methods assume all source domains can be accessed directly. This neglects the privacy-preserving policy, that is, all the data and computations must be kept decentralized. There exists three problems in this scenario: (1) Minimizing the domain distance requires the pairwise calculation of the data from source and target domains, which is not accessible. (2) The communication cost and privacy security limit the application of UMDA methods (e.g., the domain adversarial training). (3) Since users have no authority to check the data quality, the irrelevant or malicious source domains are more likely to appear, which causes negative transfer. In this study, we propose a privacy-preserving UMDA paradigm named Knowledge Distillation based Decentralized Domain Adaptation (KD3A), which performs domain adaptation through the knowledge distillation on models from different source domains. KD3A solves the above problems with three components: (1) A multi-source knowledge distillation method named Knowledge Vote to learn high-quality domain consensus knowledge. (2) A dynamic weighting strategy named Consensus Focus to identify both the malicious and irrelevant domains. (3) A decentralized optimization strategy for domain distance named BatchNorm MMD. The extensive experiments on DomainNet demonstrate that KD3A is robust to the negative transfer and brings a 100x reduction of communication cost compared with other decentralized UMDA methods. Moreover, our KD3A significantly outperforms state-of-the-art UMDA approaches.

Object detection is considered as one of the most challenging problems in computer vision, since it requires correct prediction of both classes and locations of objects in images. In this study, we define a more difficult scenario, namely zero-shot object detection (ZSD) where no visual training data is available for some of the target object classes. We present a novel approach to tackle this ZSD problem, where a convex combination of embeddings are used in conjunction with a detection framework. For evaluation of ZSD methods, we propose a simple dataset constructed from Fashion-MNIST images and also a custom zero-shot split for the Pascal VOC detection challenge. The experimental results suggest that our method yields promising results for ZSD.