イブキ　タツヤ   IBUKI TATSUYA   伊吹　竜也    所属   明治大学  理工学部    職種   専任准教授
言語種別	英語
発行・発表の年月	2022/10
形態種別	学術雑誌
査読	査読あり
標題	Loop-Shaped Distributed Learning of an Object with Data-Independent Performance Certificates
執筆形態	共著(筆頭者以外)
掲載誌名	Advanced Robotics
掲載区分	国外
出版社・発行元	The Robotics Society of Japan (RSJ)
巻・号・頁	37(3),pp.169-182
総ページ数	14
著者・共著者	Toshiyuki Oshima, Shunya Yamashita, Junya Yamauchi, Tatsuya Ibuki, Michio Seto, Takeshi Hatanaka
概要	This paper addresses distributed learning of object shapes using multiple robots, and proposes a systematic design procedure for distributed optimization algorithms with data-independent performance certificates. We start with formulating the object shape learning as a distributed classification problem based on so-called kernel method. A distributed algorithm, continuous-time alternating direction method of multipliers, is then applied to the problem, wherein poor transient performances are observed. To improve the performance, we reformulate the classification problem so that singular values of sub-blocks in the algorithm are appropriately scaled. We then propose a systematic design procedure of the algorithm based on the concept of loop-shaping. The procedure is further extended so that the performance is independent of the data, and its effectiveness is verified through a numerical example.