Savvas A. Chatzichristofis

Athanasios Ch. Kapoutsis, Savvas A. Chatzichristofis, Elias B. Kosmatopoulos

This paper presents a distributed algorithm applicable to a wide range of practical multi-robot applications. In such multi-robot applications, the user-defined objectives of the mission can be cast as a general optimization problem, without explicit guidelines of the subtasks per different robot. Owing to the unknown environment, unknown robot dynamics, sensor nonlinearities, etc., the analytic form of the optimization cost function is not available a priori. Therefore, standard gradient-descent-like algorithms are not applicable to these problems. To tackle this, we introduce a new algorithm that carefully designs each robot's subcost function, the optimization of which can accomplish the overall team objective. Upon this transformation, we propose a distributed methodology based on the cognitive-based adaptive optimization (CAO) algorithm, that is able to approximate the evolution of each robot's cost function and to adequately optimize its decision variables (robot actions). The latter can be achieved by online learning only the problem-specific characteristics that affect the accomplishment of mission objectives. The overall, low-complexity algorithm can straightforwardly incorporate any kind of operational constraint, is fault-tolerant, and can appropriately tackle time-varying cost functions. A cornerstone of this approach is that it shares the same convergence characteristics as those of block coordinate descent algorithms. The proposed algorithm is evaluated in three heterogeneous simulation set-ups under multiple scenarios, against both general-purpose and problem-specific algorithms. Source code is available at https://github.com/athakapo/A-distributed-plug-n-play-algorithm-for-multi-robot-applications.

Socratis Gkelios, Yiannis Boutalis, Savvas A. Chatzichristofis

This paper introduces a plug-and-play descriptor that can be effectively adopted for image retrieval tasks without prior initialization or preparation. The description method utilizes the recently proposed Vision Transformer network while it does not require any training data to adjust parameters. In image retrieval tasks, the use of Handcrafted global and local descriptors has been very successfully replaced, over the last years, by the Convolutional Neural Networks (CNN)-based methods. However, the experimental evaluation conducted in this paper on several benchmarking datasets against 36 state-of-the-art descriptors from the literature demonstrates that a neural network that contains no convolutional layer, such as Vision Transformer, can shape a global descriptor and achieve competitive results. As fine-tuning is not required, the presented methodology's low complexity encourages adoption of the architecture as an image retrieval baseline model, replacing the traditional and well adopted CNN-based approaches and inaugurating a new era in image retrieval approaches.

Nikolaos P. Bakas, Andreas Langousis, Mihalis Nicolaou et al.

We present a numerical scheme for computation of Artificial Neural Networks (ANN) weights, which stems from the Universal Approximation Theorem, avoiding laborious iterations. The proposed algorithm adheres to the underlying theory, is highly fast, and results in remarkably low errors when applied for regression and classification of complex data-sets, such as the Griewank function of multiple variables $\mathbf{x} \in \mathbb{R}^{100}$ with random noise addition, and MNIST database for handwritten digits recognition, with $7\times10^4$ images. The same mathematical formulation is found capable of approximating highly nonlinear functions in multiple dimensions, with low errors (e.g. $10^{-10}$) for the test-set of the unknown functions, their higher-order partial derivatives, as well as numerically solving Partial Differential Equations. The method is based on the calculation of the weights of each neuron in small neighborhoods of the data, such that the corresponding local approximation matrix is invertible. Accordingly, optimization of hyperparameters is not necessary, as the number of neurons stems directly from the dimensionality of the data, further improving the algorithmic speed. Under this setting, overfitting is inherently avoided, and the results are interpretable and reproducible. The complexity of the proposed algorithm is of class P with $\mathcal{O}(mn^2)+\mathcal{O}(\frac{m^3}{n^2})-\mathcal{O}(\log(n+1))$ computing time, with respect to the observations $m$ and features $n$, in contrast with the NP-Complete class of standard algorithms for ANN training. The performance of the method is high, irrespective of the size of the dataset, and the test-set errors are similar or smaller than the training errors, indicating the generalization efficiency of the algorithm.