Addison Bohannon

Mine Gokce Dogan, Yahya H. Ezzeldin, Christina Fragouli et al.

We consider a source that wishes to communicate with a destination at a desired rate, over a mmWave network where links are subject to blockage and nodes to failure (e.g., in a hostile military environment). To achieve resilience to link and node failures, we here explore a state-of-the-art Soft Actor-Critic (SAC) deep reinforcement learning algorithm, that adapts the information flow through the network, without using knowledge of the link capacities or network topology. Numerical evaluations show that our algorithm can achieve the desired rate even in dynamic environments and it is robust against blockage.

Gennaro Notomista, Siddharth Mayya, Yousef Emam et al.

In the context of heterogeneous multi-robot teams deployed for executing multiple tasks, this paper develops an energy-aware framework for allocating tasks to robots in an online fashion. With a primary focus on long-duration autonomy applications, we opt for a survivability-focused approach. Towards this end, the task prioritization and execution -- through which the allocation of tasks to robots is effectively realized -- are encoded as constraints within an optimization problem aimed at minimizing the energy consumed by the robots at each point in time. In this context, an allocation is interpreted as a prioritization of a task over all others by each of the robots. Furthermore, we present a novel framework to represent the heterogeneous capabilities of the robots, by distinguishing between the features available on the robots, and the capabilities enabled by these features. By embedding these descriptions within the optimization problem, we make the framework resilient to situations where environmental conditions make certain features unsuitable to support a capability and when component failures on the robots occur. We demonstrate the efficacy and resilience of the proposed approach in a variety of use-case scenarios, consisting of simulations and real robot experiments.

Addison Bohannon, Brian Sadler, Radu Balan

Graph convolutional networks adapt the architecture of convolutional neural networks to learn rich representations of data supported on arbitrary graphs by replacing the convolution operations of convolutional neural networks with graph-dependent linear operations. However, these graph-dependent linear operations are developed for scalar functions supported on undirected graphs. We propose a class of linear operations for stochastic (time-varying) processes on directed (or undirected) graphs to be used in graph convolutional networks. We propose a parameterization of such linear operations using functional calculus to achieve arbitrarily low learning complexity. The proposed approach is shown to model richer behaviors and display greater flexibility in learning representations than product graph methods.