Efficient Asynchronous Federated Learning for AUV Swarm
Abstract
:1. Introduction
- To the authors’ knowledge, this paper is the first to introduce federated learning into the AUV swarm. Federated learning can help AUV swarm train large-scale machine learning models in an environment where underwater communication resources are scarce.
- In order to further reduce the constraints of underwater scarce communication resources on federated learning, we designed an asynchronous federated learning method, which can effectively alleviate the straggler effect and further reduce data interaction.
- We constructed the optimization problem of minimum delay and energy consumption, by jointly optimizing AUV CPU frequency and signal transmission power.
- In order to solve the optimization problem efficiently, we converted it into an MDP and proposed the PPO2 algorithm to solve this problem. The simulation results verify the effectiveness of the proposed algorithm.
- In the third section, a federated learning model based on the AUV swarm is established. First, we established a federal learning model. Second, the communication system model was established. Then the control model was established, the nodes participating in this round of upload were selected locally, and redundant nodes were adaptively skipped. Then a delay model was established to calculate the time and total time of each phase of federated learning. Then the energy consumption model was established as the energy constraint. Finally, the optimization problem is listed.
- In the fourth section, the PPO2 algorithm is used to solve the optimization problem.
- The fifth section is the experimental part. By changing the relevant parameters, we can observe the communication times, model accuracy, and model The simulation results show the convergence of the PPO2 algorithm.
- The last section of this paper is the summary, which summarizes the main points and shortcomings of this work.
2. Related Work
3. System Model
3.1. Federated Learning Model
3.2. Communication Model
3.3. Control Model
3.4. Latency Model
3.4.1. Local Parameter Calculating Latency
3.4.2. Uploading Latency
3.4.3. Global Parameter Aggregating Latency
3.4.4. Global Parameter Updating Latency
3.4.5. Downloading Latency
3.4.6. Total Latency
3.5. Energy Consumption Model
3.5.1. Energy Consumption of Follower AUV
3.5.2. Energy Consumption on Leader AUV
3.5.3. Total Energy Consumption
3.6. Problem Formulation
4. Algorithm Design
4.1. Modeling of Deep Reinforcement Learning Environment
4.2. Proximal Policy Optimization Algorithm
Algorithm 1 Proximal policy optimization clip. |
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5. Simulation Results
5.1. The Performance of Each Index in the Gradient Compression Test
5.2. The Performance Analysis of the Scheme Proposed in This Paper
- Scheme 1: the scheme proposed in this paper.
- Scheme 2: asynchronous federated learning with dynamically optimized
- Scheme 3: asynchronous federated learning with fixed .
- Scheme 4: asynchronous federated learning with LAG.
- Scheme 5: traditional asynchronous federated learning.
5.3. The Performance Analysis of the PPO2 Algorithm
6. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
Abbreviations
FL | federated learning |
AUVs | autonomous underwater vehicles |
UIoT | underwater Internet of Things |
PPO2 | proximal policy optimization 2 |
FEDSGD | federated stochastic gradient descent |
DNN | deep neural network |
ANN | artificial neural network |
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Parameter | Value | Parameter | Value |
---|---|---|---|
k | 0.01 | ||
3 | M | 20 | |
10 kHz | f | 30 kHz | |
10 kHz | s | 0.5 | |
4224 | 5 | ||
10,000 | 0.4 GHz | ||
50 | 0.2 GHz | ||
50 | 0.07 W | ||
1594*64 bit | 0.8 W | ||
1594*64 bit | 1 | ||
0.2 W | 1 |
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Meng, Z.; Li, Z.; Hou, X.; Du, J.; Chen, J.; Wei, W. Efficient Asynchronous Federated Learning for AUV Swarm. Sensors 2022, 22, 8727. https://doi.org/10.3390/s22228727
Meng Z, Li Z, Hou X, Du J, Chen J, Wei W. Efficient Asynchronous Federated Learning for AUV Swarm. Sensors. 2022; 22(22):8727. https://doi.org/10.3390/s22228727
Chicago/Turabian StyleMeng, Zezhao, Zhi Li, Xiangwang Hou, Jun Du, Jianrui Chen, and Wei Wei. 2022. "Efficient Asynchronous Federated Learning for AUV Swarm" Sensors 22, no. 22: 8727. https://doi.org/10.3390/s22228727