In this paper, we present a decentralized unmanned aerial vehicle (UAV) swarm formation control approach based on a decision theoretic approach. Specifically, we pose the UAV swarm motion control problem as a decentralized Markov decision process (Dec-MDP). Here, the goal is to drive the UAV swarm from an initial geographical region to another geographical region where the swarm must form a three-dimensional shape (e.g., surface of a sphere). As most decision-theoretic formulations suffer from the curse of dimensionality, we adapt an existing fast approximate dynamic programming method called nominal belief-state optimization (NBO) to approximately solve the formation control problem. We perform numerical studies in MATLAB to validate the performance of the above control algorithms.

Hyperparameter optimization or tuning plays a significant role in the performance and reliability of deep learning (DL). Many hyperparameter optimization algorithms have been developed for obtaining better validation accuracy in DL training. Most state-of-the-art hyperparameters are computationally expensive due to a focus on validation accuracy. Therefore, they are unsuitable for online or on-the-fly training applications which require computational efficiency. In this paper, we develop a novel greedy approach-based hyperparameter optimization (GHO) algorithm for faster training applications, e.g., on-the-fly training. We perform an empirical study to compute the performance such as computation time and energy consumption of the GHO and compare it with two state-of-the-art hyperparameter optimization algorithms. We also deploy the GHO algorithm in an edge device to validate the performance of our algorithm. We perform post-training quantization to the GHO algorithm to reduce inference time and latency.

Hyperparameter optimization or tuning plays a significant role in the performance and reliability of deep learning (DL). Many hyperparameter optimization algorithms have been developed for obtaining better validation accuracy in DL training. Most state-of-the-art hyperparameters are computationally expensive due to a focus on validation accuracy. Therefore, they are unsuitable for online or on-the-fly training applications which require computational efficiency. In this paper, we develop a novel greedy approach-based hyperparameter optimization (GHO) algorithm for faster training applications, e.g., on-the-fly training. We perform an empirical study to compute the performance such as computation time and energy consumption of the GHO and compare it with two state-of-the-art hyperparameter optimization algorithms. We also deploy the GHO algorithm in an edge device to validate the performance of our algorithm. We perform post-training quantization to the GHO algorithm to reduce inference time and latency.