Paolo Frasca

Simone Mariano, Paolo Frasca

This paper addresses the problem of designing recommendation systems for social networks and e-commerce platforms from a control-theoretic perspective. We treat the design of recommendation systems as a state-feedback infinite-horizon optimal control problem with a performance index that (i) rewards alignment and engagement, (ii) penalizes polarization and large deviations from an uncontrolled baseline, and (iii) regularizes exposure across neighboring users. The recommendation entries are fed to the platform users, who are assumed to follow a networked, multi-topic, continuous-time opinion dynamics. We show that the designed control yields a stabilizing recommendation system under simple algebraic spectral conditions on the weights that encode the platform's preference for engagement, stability of preferences, polarization, and cross-user diversity. Conversely, we show that when ill-posed weights are selected in the optimal control problem (namely, when engagement is excessively rewarded), the closed-loop system can exhibit destabilizing, pathological behaviors that conflict with the design objectives.

Joseph W. Durham, Ruggero Carli, Paolo Frasca et al.

We propose distributed algorithms to automatically deploy a team of mobile robots to partition and provide coverage of a non-convex environment. To handle arbitrary non-convex environments, we represent them as graphs. Our partitioning and coverage algorithm requires only short-range, unreliable pairwise "gossip" communication. The algorithm has two components: (1) a motion protocol to ensure that neighboring robots communicate at least sporadically, and (2) a pairwise partitioning rule to update territory ownership when two robots communicate. By studying an appropriate dynamical system on the space of partitions of the graph vertices, we prove that territory ownership converges to a pairwise-optimal partition in finite time. This new equilibrium set represents improved performance over common Lloyd-type algorithms. Additionally, we detail how our algorithm scales well for large teams in large environments and how the computation can run in anytime with limited resources. Finally, we report on large-scale simulations in complex environments and hardware experiments using the Player/Stage robot control system.

Claudio De Persis, Paolo Frasca

This paper regards coordination of networked systems, which is studied in the framework of hybrid dynamical systems. We design a coordination scheme which combines the use of ternary controllers with a self-triggered communication policy. The communication policy requires the agents to collect, at each sampling time, relative measurements of their neighbors' states: the collected information is then used to update the control and determine the following sampling time. We prove that the proposed scheme ensures finite-time convergence to a neighborhood of a consensus state. We then study the robustness of the proposed self-triggered coordination system with respect to skews in the agents' local clocks, to delays, and to limited precision in communication. Furthermore, we present two significant variations of our scheme. First, we design a time-varying controller which asymptotically drives the system to consensus. Second, we adapt our framework to a communication model in which an agent does not poll all its neighbors simultaneously, but single neighbors instead. This communication policy actually leads to a self-triggered "gossip" coordination system.

Paolo Frasca

This note studies a network of agents having continuous-time dynamics with quantized interactions and time-varying directed topology. Due to the discontinuity of the dynamics, solutions of the resulting ODE system are intended in the sense of Krasovskii. A limit connectivity graph is defined, which encodes persistent interactions between nodes: if such graph has a globally reachable node, Krasovskii solutions reach consensus (up to the quantizer precision) after a finite time. Under the additional assumption of a time-invariant topology, the convergence time is upper bounded by a quantity which depends on the network size and the quantizer precision. It is observed that the convergence time can be very large for solutions which stay on a discontinuity surface.

Gianluca Bianchin, Paolo Frasca, Andrea Gasparri et al.

This paper studies the observability radius of network systems, which measures the robustness of a network to perturbations of the edges. We consider linear networks, where the dynamics are described by a weighted adjacency matrix, and dedicated sensors are positioned at a subset of nodes. We allow for perturbations of certain edge weights, with the objective of preventing observability of some modes of the network dynamics. To comply with the network setting, our work considers perturbations with a desired sparsity structure, thus extending the classic literature on the observability radius of linear systems. The paper proposes two sets of results. First, we propose an optimization framework to determine a perturbation with smallest Frobenius norm that renders a desired mode unobservable from the existing sensor nodes. Second, we study the expected observability radius of networks with given structure and random edge weights. We provide fundamental robustness bounds dependent on the connectivity properties of the network and we analytically characterize optimal perturbations of line and star networks, showing that line networks are inherently more robust than star networks.

Chiara Ravazzi, Paolo Frasca, Roberto Tempo et al.

This paper regards the relative localization problem in sensor networks. We study a randomized algorithm, which is based on input-driven consensus dynamics and involves pairwise "gossip" communications and updates. Due to the randomness of the updates, the state of this algorithm ergodically oscillates around a limit value. Exploiting the ergodicity of the dynamics, we show that the time-average of the state almost surely converges to the least-squares solution of the localization problem. Remarkably, the computation of the time-average does not require the sensors to share any common clock. Hence, the proposed algorithm is fully distributed and asynchronous.

Francesca Ceragioli, Paolo Frasca

This paper deals with continuous-time opinion dynamics that feature the interplay of continuous opinions and discrete behaviours. In our model, the opinion of one individual is only influenced by the behaviours of fellow individuals. The key technical difficulty in the study of these dynamics is that the right-hand sides of the equations are discontinuous and thus their solutions must be intended in some generalized sense: in our analysis, we consider both Carathéodory and Krasowskii solutions. We first prove existence and completeness of Carathéodory solutions from every initial condition and we highlight a pathological behaviour of Carathéodory solutions, which can converge to points that are not (Carathéodory) equilibria. Notably, such points can be arbitrarily far from consensus and indeed simulations show that convergence to non-consensus configurations is very common. In order to cope with these pathological attractors, we then study Krasowskii solutions. We give an estimate of the asymptotic distance of all Krasowskii solutions from consensus and we prove its tightness via an example: this estimate is quadratic in the number of agents, implying that quantization can drastically destroy consensus. However, we are able to prove convergence to consensus in some special cases, namely when the communication among the individuals is described by either a complete or a complete bipartite graph.

Christian Commault, Jacob van der Woude, Paolo Frasca

In this paper we consider the problem of controlling a limited number of target nodes of a network. Equivalently, we can see this problem as controlling the target variables of a structured system, where the state variables of the system are associated to the nodes of the network. We deal with this problem from a different point of view as compared to most recent literature. Indeed, instead of considering controllability in the Kalman sense, that is, as the ability to drive the target states to a desired value, we consider the stronger requirement of driving the target variables as time functions. The latter notion is called functional target controllability. We think that restricting the controllability requirement to a limited set of important variables justifies using a more accurate notion of controllability for these variables. Remarkably, the notion of functional controllability allows formulating very simple graphical conditions for target controllability in the spirit of the structural approach to controllability. The functional approach enables us, moreover, to determine the smallest set of steering nodes that need to be actuated to ensure target controllability, where these steering nodes are constrained to belong to a given set. We show that such a smallest set can be found in polynomial time. We are also able to classify the possible actuated variables in terms of their importance with respect to the functional target controllability problem.

Paolo Frasca, Julien M. Hendrickx

This paper regards randomized discrete-time consensus systems that preserve the average "on average". As a main result, we provide an upper bound on the mean square deviation of the consensus value from the initial average. Then, we apply our result to systems where few or weakly correlated interactions take place: these assumptions cover several algorithms proposed in the literature. For such systems we show that, when the network size grows, the deviation tends to zero, and the speed of this decay is not slower than the inverse of the size. Our results are based on a new approach, which is unrelated to the convergence properties of the system.

Chiara Ravazzi, Nelson P. K. Chan, Paolo Frasca

This paper studies the problem of estimation from relative measurements in a graph, in which a vector indexed over the nodes has to be reconstructed from pairwise measurements of differences between its components associated to nodes connected by an edge. In order to model heterogeneity and uncertainty of the measurements, we assume them to be affected by additive noise distributed according to a Gaussian mixture. In this original setup, we formulate the problem of computing the Maximum-Likelihood (ML) estimates and we design two novel algorithms, based on Least Squares regression and Expectation-Maximization (EM). The first algorithm (LS- EM) is centralized and performs the estimation from relative measurements, the soft classification of the measurements, and the estimation of the noise parameters. The second algorithm (Distributed LS-EM) is distributed and performs estimation and soft classification of the measurements, but requires the knowledge of the noise parameters. We provide rigorous proofs of convergence of both algorithms and we present numerical experiments to evaluate and compare their performance with classical solutions. The experiments show the robustness of the proposed methods against different kinds of noise and, for the Distributed LS-EM, against errors in the knowledge of noise parameters.

Paolo Frasca, Paolo Mason, Benedetto Piccoli

This paper considers a special case of the problem of identifying a static scalar signal, depending on the location, using a planar network of sensors in a distributed fashion. Motivated by the application to monitoring wild-fires spreading and pollutants dispersion, we assume the signal to be Gaussian in space. Using a network of sensors positioned to form a regular hexagonal tessellation, we prove that each node can estimate the parameters of the Gaussian from local measurements. Moreover, we study the sensitivity of these estimates to additive errors affecting the measurements. Finally, we show how a consensus algorithm can be designed to fuse the local estimates into a shared global estimate, effectively compensating the measurement errors.

Wilbert Samuel Rossi, Paolo Frasca

This paper is about a new model of opinion dynamics with opinion-dependent connectivity. We assume that agents update their opinions asynchronously and that each agent's new opinion depends on the opinions of the $k$ agents that are closest to it. We show that the resulting dynamics is substantially different from comparable models in the literature, such as bounded-confidence models. We study the equilibria of the dynamics, observing that they are robust to perturbations caused by the introduction of new agents. We also prove that if the number of agents $n$ is smaller than $2k$, the dynamics converge to consensus. This condition is only sufficient.

Francesca Ceragioli, Paolo Frasca

This report studies a continuous-time version of the well-known Hegselmann-Krause model of opinion dynamics with bounded confidence. As the equations of this model have discontinuous right-hand side, we study their Krasovskii solutions. We present results about existence and completeness of solutions, and asymptotical convergence to equilibria featuring a "clusterization" of opinions. The robustness of such equilibria to small perturbations is also studied.

Wilbert Samuel Rossi, Paolo Frasca, Fabio Fagnani

Important applications in robotic and sensor networks require distributed algorithms to solve the so-called relative localization problem: a node-indexed vector has to be reconstructed from measurements of differences between neighbor nodes. In a recent note, we have studied the estimation error of a popular gradient descent algorithm showing that the mean square error has a minimum at a finite time, after which the performance worsens. This paper proposes a suitable modification of this algorithm incorporating more realistic "a priori" information on the position. The new algorithm presents a performance monotonically decreasing to the optimal one. Furthermore, we show that the optimal performance is approximated, up to a 1 + \eps factor, within a time which is independent of the graph and of the number of nodes. This convergence time is very much related to the minimum exhibited by the previous algorithm and both lead to the following conclusion: in the presence of noisy data, cooperation is only useful till a certain limit.

Paolo Frasca, Fabio Fagnani

In this paper we study two related iterative randomized algorithms for distributed computation of averages. The first one is the recently proposed Broadcast Gossip Algorithm, in which at each iteration one randomly selected node broadcasts its own state to its neighbors. The second algorithm is a novel de-synchronized version of the previous one, in which at each iteration every node is allowed to broadcast, with a given probability: hence this algorithm is affected by interference among messages. Both algorithms are proved to converge, and their performance is evaluated in terms of rate of convergence and asymptotical error: focusing on the behavior for large networks, we highlight the role of topology and design parameters on the performance. Namely, we show that on fully-connected graphs the rate is bounded away from one, whereas the asymptotical error is bounded away from zero. On the contrary, on a wide class of locally-connected graphs, the rate goes to one and the asymptotical error goes to zero, as the size of the network grows larger.

Wilbert Samuel Rossi, Paolo Frasca

In this paper we elaborate upon a measure of node influence in social networks, which was recently proposed by Vassio et al., IEEE Trans. Control Netw. Syst., 2014. This measure quantifies the ability of the node to sway the average opinion of the network. Following the approach by Vassio et al., we describe and study a distributed message passing algorithm that aims to compute the nodes' influence. The algorithm is inspired by an analogy between potentials in electrical networks and opinions in social networks. If the graph is a tree, then the algorithm computes the nodes' influence in a number of steps equal to the diameter of the graph. On general graphs, the algorithm converges asymptotically to a meaningful approximation of the nodes' influence. In this paper we detail the proof of convergence, which greatly extends previous results in the literature, and we provide simulations that illustrate the usefulness of the returned approximation.

Paolo Frasca, Fabio Fagnani

In problems of estimation and control which involve a network, efficient distributed computation of averages is a key issue. This paper presents theoretical and simulation results about the accumulation of errors during the computation of averages by means of iterative "broadcast gossip" algorithms. Using martingale theory, we prove that the expectation of the accumulated error can be bounded from above by a quantity which only depends on the mixing parameter of the algorithm and on few properties of the network: its size, its maximum degree and its spectral gap. Both analytical results and computer simulations show that in several network topologies of applicative interest the accumulated error goes to zero as the size of the network grows large.

Wilbert Samuel Rossi, Paolo Frasca

The harmonic influence is a measure of the importance of nodes in social networks, which can be approximately computed by a distributed message-passing algorithm. In this extended abstract we look at two open questions about this algorithm. How does it perform on real social networks, which have complex topologies structured in communities? How does it perform when the network topology changes while the algorithm is running? We answer these two questions by numerical experiments on a Facebook ego network and on synthetic networks, respectively. We find out that communities can introduce artefacts in the final approximation and cause the algorithm to overestimate the importance of "local leaders" within communities. We also observe that the algorithm is able to adapt smoothly to changes in the topology.

Wilbert Samuel Rossi, Paolo Frasca, Fabio Fagnani

In our recent paper W.S. Rossi, P. Frasca and F. Fagnani, "Average resistance of toroidal graphs", SIAM Journal on Control and Optimization, 53(4):2541--2557, 2015, we studied how the average resistances of $d$-dimensional toroidal grids depend on the graph topology and on the dimension of the graph. Our results were based on the connection between resistance and Laplacian eigenvalues. In this note, we contextualize our work in the body of literature about random walks on graphs. Indeed, the average effective resistance of the $d$-dimensional toroidal grid is proportional to the mean hitting time of the simple random walk on that grid. If $d\geq3 $, then the average resistance can be bounded uniformly in the number of nodes and its value is of order $1/d$ for large $d$.

Giulia De Pasquale, Sarah Dean, Paolo Frasca

We propose a control-theoretic interpretation of recommender systems and use this perspective to analyze how fairness interventions shape long-term system behavior. Fairness concerns arise for both users and creators, ranging from opinion polarization and representation bias on the user side to popularity bias on the creator side. A central insight of our analysis is that fairness should not be viewed as a simple trade-off against utility. When optimized over time, it can in fact be beneficial for overall system performance. Realizing these gains, however, requires a clear understanding of the underlying dynamics.

Francesco Acciani, Paolo Frasca, Geert Heijenk et al.

This paper is about obtaining stable vehicle platooning by using Cooperative Adaptive Cruise Control when the communication is unreliable and suffers from message losses. We model communication losses as independent random events and we propose an original design for the cooperative controller, which mitigates the effect of losses. This objective is obtained by a switching controller that has a twofold objective: on the one hand, it promotes both plant stability and string stability of the average error dynamics by an $H_infty$ approach, and on the other hand it minimizes the variance around the average. We show by simulations that the proposed controller is able to compensate even for high probability of losses.

Wilbert Samuel Rossi, Jan Willem Polderman, Paolo Frasca

In online platforms, recommender systems are responsible for directing users to relevant contents. In order to enhance the users' engagement, recommender systems adapt their output to the reactions of the users, who are in turn affected by the recommended contents. In this work, we study a tractable analytical model of a user that interacts with an online news aggregator, with the purpose of making explicit the feedback loop between the evolution of the user's opinion and the personalised recommendation of contents. More specifically, we assume that the user is endowed with a scalar opinion about a certain issue and seeks news about it on a news aggregator: this opinion is influenced by all received news, which are characterized by a binary position on the issue at hand. The user is affected by a confirmation bias, that is, a preference for news that confirm her current opinion. The news aggregator recommends items with the goal of maximizing the number of user's clicks (as a measure of her engagement): in order to fulfil its goal, the recommender has to compromise between exploring the user's preferences and exploiting what it has learned so far. After defining suitable metrics for the effectiveness of the recommender systems (such as the click-through rate) and for its impact on the opinion, we perform both extensive numerical simulations and a mathematical analysis of the model. We find that personalised recommendations markedly affect the evolution of opinions and favor the emergence of more extreme ones: the intensity of these effects is inherently related to the effectiveness of the recommender. We also show that by tuning the amount of randomness in the recommendation algorithm, one can seek a balance between the effectiveness of the recommendation system and its impact on the opinions.

Wilbert Samuel Rossi, Paolo Frasca, Fabio Fagnani

The average effective resistance of a graph is a relevant performance index in many applications, including distributed estimation and control of network systems. In this paper, we study how the average resistance depends on the graph topology and specifically on the dimension of the graph. We concentrate on $d$-dimensional toroidal grids and we exploit the connection between resistance and Laplacian eigenvalues. Our analysis provides tight estimates of the average resistance, which are key to study its asymptotic behavior when the number of nodes grows to infinity. In dimension two, the average resistance diverges: in this case, we are able to capture its rate of growth when the sides of the grid grow at different rates. In higher dimensions, the average resistance is bounded uniformly in the number of nodes: in this case, we conjecture that its value is of order $1/d$ for large $d$. We prove this fact for hypercubes and when the side lengths go to infinity.

Paolo Frasca, Chiara Ravazzi, Roberto Tempo et al.

In this paper we study a novel model of opinion dynamics in social networks, which has two main features. First, agents asynchronously interact in pairs, and these pairs are chosen according to a random process. We refer to this communication model as "gossiping". Second, agents are not completely open-minded, but instead take into account their initial opinions, which may be thought of as their "prejudices". In the literature, such agents are often called "stubborn". We show that the opinions of the agents fail to converge, but persistently undergo ergodic oscillations, which asymptotically concentrate around a mean distribution of opinions. This mean value is exactly the limit of the synchronous dynamics of the expected opinions.

Francesca Ceragioli, Claudio De Persis, Paolo Frasca

We consider continuous-time average consensus dynamics in which the agents' states are communicated through uniform quantizers. Solutions to the resulting system are defined in the Krasowskii sense and are proven to converge to conditions of "practical consensus". To cope with undesired chattering phenomena we introduce a hysteretic quantizer, and we study the convergence properties of the resulting dynamics by a hybrid system approach.

Ruggero Carli, Fabio Fagnani, Paolo Frasca et al.

This paper considers the average consensus problem on a network of digital links, and proposes a set of algorithms based on pairwise ''gossip'' communications and updates. We study the convergence properties of such algorithms with the goal of answering two design questions, arising from the literature: whether the agents should encode their communication by a deterministic or a randomized quantizer, and whether they should use, and how, exact information regarding their own states in the update.

Ruggero Carli, Fabio Fagnani, Paolo Frasca et al.

This paper presents an algorithm which solves exponentially fast the average consensus problem on strongly connected network of digital links. The algorithm is based on an efficient zooming-in/zooming-out quantization scheme.