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Register a new userDecentralized Control with Graph Neural Networks
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Added by
Fernando Gama
Publication date
2020
fields
Informatics Engineering
and research's language is
English
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Dynamical systems consisting of a set of autonomous agents face the challenge of having to accomplish a global task, relying only on local information. While centralized controllers are readily available, they face limitations in terms of scalability and implementation, as they do not respect the distributed information structure imposed by the network system of agents. Given the difficulties in finding optimal decentralized controllers, we propose a novel framework using graph neural networks (GNNs) to emph{learn} these controllers. GNNs are well-suited for the task since they are naturally distributed architectures and exhibit good scalability and transferability properties. The problems of flocking and multi-agent path planning are explored to illustrate the potential of GNNs in learning decentralized controllers.
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Dynamical systems comprised of autonomous agents arise in many relevant problems such as multi-agent robotics, smart grids, or smart cities. Controlling these systems is of paramount importance to guarantee a successful deployment. Optimal centralized controllers are readily available but face limitations in terms of scalability and practical implementation. Optimal decentralized controllers, on the other hand, are difficult to find. In this paper, we propose a framework using graph neural networks (GNNs) to learn decentralized controllers from data. While GNNs are naturally distributed architectures, making them perfectly suited for the task, we adapt them to handle delayed communications as well. Furthermore, they are equivariant and stable, leading to good scalability and transferability properties. The problem of flocking is explored to illustrate the potential of GNNs in learning decentralized controllers.
Controlling network systems has become a problem of paramount importance. Optimally controlling a network system with linear dynamics and minimizing a quadratic cost is a particular case of the well-studied linear-quadratic problem. When the specific topology of the network system is ignored, the optimal controller is readily available. However, this results in a emph{centralized} controller, facing limitations in terms of implementation and scalability. Finding the optimal emph{distributed} controller, on the other hand, is intractable in the general case. In this paper, we propose the use of graph neural networks (GNNs) to parametrize and design a distributed controller. GNNs exhibit many desirable properties, such as being naturally distributed and scalable. We cast the distributed linear-quadratic problem as a self-supervised learning problem, which is then used to train the GNN-based controllers. We also obtain sufficient conditions for the resulting closed-loop system to be input-state stable, and derive an upper bound on the trajectory deviation when the system is not accurately known. We run extensive simulations to study the performance of GNN-based distributed controllers and show that they are computationally efficient and scalable.
The linear-quadratic controller is one of the fundamental problems in control theory. The optimal solution is a linear controller that requires access to the state of the entire system at any given time. When considering a network system, this renders the optimal controller a centralized one. The interconnected nature of a network system often demands a distributed controller, where different components of the system are controlled based only on local information. Unlike the classical centralized case, obtaining the optimal distributed controller is usually an intractable problem. Thus, we adopt a graph neural network (GNN) as a parametrization of distributed controllers. GNNs are naturally local and have distributed architectures, making them well suited for learning nonlinear distributed controllers. By casting the linear-quadratic problem as a self-supervised learning problem, we are able to find the best GNN-based distributed controller. We also derive sufficient conditions for the resulting closed-loop system to be stable. We run extensive simulations to study the performance of GNN-based distributed controllers and showcase that they are a computationally efficient parametrization with scalability and transferability capabilities.
In this paper, we investigate the decentralized statistical inference problem, where a network of agents cooperatively recover a (structured) vector from private noisy samples without centralized coordination. Existing optimization-based algorithms suffer from issues of model mismatch and poor convergence speed, and thus their performance would be degraded, provided that the number of communication rounds is limited. This motivates us to propose a learning-based framework, which unrolls well-noted decentralized optimization algorithms (e.g., Prox-DGD and PG-EXTRA) into graph neural networks (GNNs). By minimizing the recovery error via end-to-end training, this learning-based framework resolves the model mismatch issue. Our convergence analysis (with PG-EXTRA as the base algorithm) reveals that the learned model parameters may accelerate the convergence and reduce the recovery error to a large extent. The simulation results demonstrate that the proposed GNN-based learning methods prominently outperform several state-of-the-art optimization-based algorithms in convergence speed and recovery error.
Network data can be conveniently modeled as a graph signal, where data values are assigned to nodes of a graph that describes the underlying network topology. Successful learning from network data is built upon methods that effectively exploit this graph structure. In this work, we leverage graph signal processing to characterize the representation space of graph neural networks (GNNs). We discuss the role of graph convolutional filters in GNNs and show that any architecture built with such filters has the fundamental properties of permutation equivariance and stability to changes in the topology. These two properties offer insight about the workings of GNNs and help explain their scalability and transferability properties which, coupled with their local and distributed nature, make GNNs powerful tools for learning in physical networks. We also introduce GNN extensions using edge-varying and autoregressive moving average graph filters and discuss their properties. Finally, we study the use of GNNs in recommender systems and learning decentralized controllers for robot swarms.
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