Multi-Vehicle Trajectory Planning at V2I-enabled Intersections based on Correlated Equilibrium

Generating trajectories that ensure both vehicle safety and improve traffic efficiency remains a challenging task at intersections. Many existing works utilize Nash equilibrium (NE) for the trajectory planning at intersections. However, NE-based planning can hardly guarantee that all vehicles are in the same equilibrium, leading to a risk of collision. In this work, we propose a framework for trajectory planning based on Correlated Equilibrium (CE) when V2I communication is also enabled. The recommendation with CE allows all vehicles to reach a safe and consensual equilibrium and meanwhile keeps the rationality as NE-based methods that no vehicle has the incentive to deviate. The Intersection Manager (IM) first collects the trajectory library and the personal preference probabilities over the library from each vehicle in a low-resolution spatial-temporal grid map. Then, the IM optimizes the recommendation probability distribution for each vehicle's trajectory by minimizing overall collision probability under the CE constraint. Finally, each vehicle samples a trajectory of the low-resolution map to construct a safety corridor and derive a smooth trajectory with a local refinement optimization. We conduct comparative experiments at a crossroad intersection involving two and four vehicles, validating the effectiveness of our method in balancing vehicle safety and traffic efficiency.

Distributed Fractional Bayesian Learning for Adaptive Optimization

This paper considers a distributed adaptive optimization problem, where all agents only have access to their local cost functions with a common unknown parameter, whereas they mean to collaboratively estimate the true parameter and find the optimal solution over a connected network. A general mathematical framework for such a problem has not been studied yet. We aim to provide valuable insights for addressing parameter uncertainty in distributed optimization problems and simultaneously find the optimal solution. Thus, we propose a novel Prediction while Optimization scheme, which utilizes distributed fractional Bayesian learning through weighted averaging on the log-beliefs to update the beliefs of unknown parameters, and distributed gradient descent for renewing the estimation of the optimal solution. Then under suitable assumptions, we prove that all agents' beliefs and decision variables converge almost surely to the true parameter and the optimal solution under the true parameter, respectively. We further establish a sublinear convergence rate for the belief sequence. Finally, numerical experiments are implemented to corroborate the theoretical analysis.

Distributed Pose-graph Optimization with Multi-level Partitioning for Collaborative SLAM

The back-end module of Distributed Collaborative Simultaneous Localization and Mapping (DCSLAM) requires solving a nonlinear Pose Graph Optimization (PGO) under a distributed setting, also known as SE(d)-synchronization. Most existing distributed graph optimization algorithms employ a simple sequential partitioning scheme, which may result in unbalanced subgraph dimensions due to the different geographic locations of each robot, and hence imposes extra communication load. Moreover, the performance of current Riemannian optimization algorithms can be further accelerated. In this letter, we propose a novel distributed pose graph optimization algorithm combining multi-level partitioning with an accelerated Riemannian optimization method. Firstly, we employ the multi-level graph partitioning algorithm to preprocess the naive pose graph to formulate a balanced optimization problem. In addition, inspired by the accelerated coordinate descent method, we devise an Improved Riemannian Block Coordinate Descent (IRBCD) algorithm and the critical point obtained is globally optimal. Finally, we evaluate the effects of four common graph partitioning approaches on the correlation of the inter-subgraphs, and discover that the Highest scheme has the best partitioning performance. Also, we implement simulations to quantitatively demonstrate that our proposed algorithm outperforms the state-of-the-art distributed pose graph optimization protocols.

Online Parameter Identification of Generalized Non-cooperative Game

This work studies the parameter identification problem of a generalized non-cooperative game, where each player's cost function is influenced by an observable signal and some unknown parameters. We consider the scenario where equilibrium of the game at some observable signals can be observed with noises, whereas our goal is to identify the unknown parameters with the observed data. Assuming that the observable signals and the corresponding noise-corrupted equilibriums are acquired sequentially, we construct this parameter identification problem as online optimization and introduce a novel online parameter identification algorithm. To be specific, we construct a regularized loss function that balances conservativeness and correctiveness, where the conservativeness term ensures that the new estimates do not deviate significantly from the current estimates, while the correctiveness term is captured by the Karush-Kuhn-Tucker conditions. We then prove that when the players' cost functions are linear with respect to the unknown parameters and the learning rate of the online parameter identification algorithm satisfies \mu_k \propto 1/\sqrt{k}, along with other assumptions, the regret bound of the proposed algorithm is O(\sqrt{K}). Finally, we conduct numerical simulations on a Nash-Cournot problem to demonstrate that the performance of the online identification algorithm is comparable to that of the offline setting.

Distributed Online Convex Optimization with Adversarial Constraints: Reduced Cumulative Constraint Violation Bounds under Slater's Condition

This paper considers distributed online convex optimization with adversarial constraints. In this setting, a network of agents makes decisions at each round, and then only a portion of the loss function and a coordinate block of the constraint function are privately revealed to each agent. The loss and constraint functions are convex and can vary arbitrarily across rounds. The agents collaborate to minimize network regret and cumulative constraint violation. A novel distributed online algorithm is proposed and it achieves an $\mathcal{O}(T^{\max\{c,1-c\}})$ network regret bound and an $\mathcal{O}(T^{1-c/2})$ network cumulative constraint violation bound, where $T$ is the number of rounds and $c\in(0,1)$ is a user-defined trade-off parameter. When Slater's condition holds (i.e, there is a point that strictly satisfies the inequality constraints), the network cumulative constraint violation bound is reduced to $\mathcal{O}(T^{1-c})$. Moreover, if the loss functions are strongly convex, then the network regret bound is reduced to $\mathcal{O}(\log(T))$, and the network cumulative constraint violation bound is reduced to $\mathcal{O}(\sqrt{\log(T)T})$ and $\mathcal{O}(\log(T))$ without and with Slater's condition, respectively. To the best of our knowledge, this paper is the first to achieve reduced (network) cumulative constraint violation bounds for (distributed) online convex optimization with adversarial constraints under Slater's condition. Finally, the theoretical results are verified through numerical simulations.

Global Nash Equilibrium in Non-convex Multi-player Game: Theory and Algorithms

Wide machine learning tasks can be formulated as non-convex multi-player games, where Nash equilibrium (NE) is an acceptable solution to all players, since no one can benefit from changing its strategy unilaterally. Attributed to the non-convexity, obtaining the existence condition of global NE is challenging, let alone designing theoretically guaranteed realization algorithms. This paper takes conjugate transformation to the formulation of non-convex multi-player games, and casts the complementary problem into a variational inequality (VI) problem with a continuous pseudo-gradient mapping. We then prove the existence condition of global NE: the solution to the VI problem satisfies a duality relation. Based on this VI formulation, we design a conjugate-based ordinary differential equation (ODE) to approach global NE, which is proved to have an exponential convergence rate. To make the dynamics more implementable, we further derive a discretized algorithm. We apply our algorithm to two typical scenarios: multi-player generalized monotone game and multi-player potential game. In the two settings, we prove that the step-size setting is required to be $\mathcal{O}(1/k)$ and $\mathcal{O}(1/\sqrt k)$ to yield the convergence rates of $\mathcal{O}(1/ k)$ and $\mathcal{O}(1/\sqrt k)$, respectively. Extensive experiments in robust neural network training and sensor localization are in full agreement with our theory.

A Survey of Decision Making in Adversarial Games

Game theory has by now found numerous applications in various fields, including economics, industry, jurisprudence, and artificial intelligence, where each player only cares about its own interest in a noncooperative or cooperative manner, but without obvious malice to other players. However, in many practical applications, such as poker, chess, evader pursuing, drug interdiction, coast guard, cyber-security, and national defense, players often have apparently adversarial stances, that is, selfish actions of each player inevitably or intentionally inflict loss or wreak havoc on other players. Along this line, this paper provides a systematic survey on three main game models widely employed in adversarial games, i.e., zero-sum normal-form and extensive-form games, Stackelberg (security) games, zero-sum differential games, from an array of perspectives, including basic knowledge of game models, (approximate) equilibrium concepts, problem classifications, research frontiers, (approximate) optimal strategy seeking techniques, prevailing algorithms, and practical applications. Finally, promising future research directions are also discussed for relevant adversarial games.

No-regret learning for repeated non-cooperative games with lossy bandits

This paper considers no-regret learning for repeated continuous-kernel games with lossy bandit feedback. Since it is difficult to give the explicit model of the utility functions in dynamic environments, the players' action can only be learned with bandit feedback. Moreover, because of unreliable communication channels or privacy protection, the bandit feedback may be lost or dropped at random. Therefore, we study the asynchronous online learning strategy of the players to adaptively adjust the next actions for minimizing the long-term regret loss. The paper provides a novel no-regret learning algorithm, called Online Gradient Descent with lossy bandits (OGD-lb). We first give the regret analysis for concave games with differentiable and Lipschitz utilities. Then we show that the action profile converges to a Nash equilibrium with probability 1 when the game is also strictly monotone. We further provide the mean square convergence rate $\mathcal{O}\left(k^{-2\min\{\beta, 1/6\}}\right)$ when the game is $\beta-$ strongly monotone. In addition, we extend the algorithm to the case when the loss probability of the bandit feedback is unknown, and prove its almost sure convergence to Nash equilibrium for strictly monotone games. Finally, we take the resource management in fog computing as an application example, and carry out numerical experiments to empirically demonstrate the algorithm performance.

On Faster Convergence of Scaled Sign Gradient Descent

Communication has been seen as a significant bottleneck in industrial applications over large-scale networks. To alleviate the communication burden, sign-based optimization algorithms have gained popularity recently in both industrial and academic communities, which is shown to be closely related to adaptive gradient methods, such as Adam. Along this line, this paper investigates faster convergence for a variant of sign-based gradient descent, called scaled signGD, in three cases: 1) the objective function is strongly convex; 2) the objective function is nonconvex but satisfies the Polyak-Lojasiewicz (PL) inequality; 3) the gradient is stochastic, called scaled signGD in this case. For the first two cases, it can be shown that the scaled signGD converges at a linear rate. For case 3), the algorithm is shown to converge linearly to a neighborhood of the optimal value when a constant learning rate is employed, and the algorithm converges at a rate of $O(1/k)$ when using a diminishing learning rate, where $k$ is the iteration number. The results are also extended to the distributed setting by majority vote in a parameter-server framework. Finally, numerical experiments on logistic regression are performed to corroborate the theoretical findings.

Composition and Application of Current Advanced Driving Assistance System: A Review

Due to the growing awareness of driving safety and the development of sophisticated technologies, advanced driving assistance system (ADAS) has been equipped in more and more vehicles with higher accuracy and lower price. The latest progress in this field has called for a review to sum up the conventional knowledge of ADAS, the state-of-the-art researches, and novel applications in real-world. With the help of this kind of review, newcomers in this field can get basic knowledge easier and other researchers may be inspired with potential future development possibility. This paper makes a general introduction about ADAS by analyzing its hardware support and computation algorithms. Different types of perception sensors are introduced from their interior feature classifications, installation positions, supporting ADAS functions, and pros and cons. The comparisons between different sensors are concluded and illustrated from their inherent characters and specific usages serving for each ADAS function. The current algorithms for ADAS functions are also collected and briefly presented in this paper from both traditional methods and novel ideas. Additionally, discussions about the definition of ADAS from different institutes are reviewed in this paper, and future approaches about ADAS in China are introduced in particular.