The scale of modern datasets necessitates the development of efficient distributed optimization methods for machine learning. We present a general-purpose framework for distributed computing environments, CoCoA, that has an efficient communication scheme and is applicable to a wide variety of problems in machine learning and signal processing. We extend the framework to cover general non-strongly-convex regularizers, including L1-regularized problems like lasso, sparse logistic regression, and elastic net regularization, and show how earlier work can be derived as a special case. We provide convergence guarantees for the class of convex regularized loss minimization objectives, leveraging a novel approach in handling non-strongly-convex regularizers and non-smooth loss functions. The resulting framework has markedly improved performance over state-of-the-art methods, as we illustrate with an extensive set of experiments on real distributed datasets. 
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                            Communication-Aware Robotics: Exploiting Motion for Communication
                        
                    
    
            In this review, we present a comprehensive perspective on communication-aware robotics, an area that considers realistic communication environments and aims to jointly optimize communication and navigation. The main focus of the article is theoretical characterization and understanding of performance guarantees. We begin by summarizing the best prediction an unmanned vehicle can have of the channel quality at unvisited locations. We then consider the case of a single robot, showing how it can mathematically characterize the statistics of its traveled distance until connectivity and further plan its path to reach a connected location with optimality guarantees, in real channel environments and with minimum energy consumption. We then move to the case of multiple robots, showing how they can utilize their motions to enable robust information flow. We consider two specific robotic network configurations—robotic beamformers and robotic routers—and mathematically characterize properties of the co-optimum motion–communication decisions. 
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                            - Award ID(s):
- 2008449
- PAR ID:
- 10311755
- Date Published:
- Journal Name:
- Annual Review of Control, Robotics, and Autonomous Systems
- Volume:
- 4
- Issue:
- 1
- ISSN:
- 2573-5144
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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