{"id":"https://openalex.org/W3012606908","doi":"https://doi.org/10.1109/icassp39728.2021.9414563","title":"Graph Neural Networks for Decentralized Controllers","display_name":"Graph Neural Networks for Decentralized Controllers","publication_year":2021,"publication_date":"2021-05-13","ids":{"openalex":"https://openalex.org/W3012606908","doi":"https://doi.org/10.1109/icassp39728.2021.9414563","mag":"3012606908"},"language":"en","primary_location":{"id":"doi:10.1109/icassp39728.2021.9414563","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icassp39728.2021.9414563","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ICASSP 2021 - 2021 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2003.10280","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5069506165","display_name":"Fernando Gama","orcid":"https://orcid.org/0000-0001-6117-8193"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Fernando Gama","raw_affiliation_strings":["University of California, Berkeley,Electrical Eng. and Computer Sci. Dept.,Berkeley,CA"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley,Electrical Eng. and Computer Sci. Dept.,Berkeley,CA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023551962","display_name":"Ekaterina Tolstaya","orcid":"https://orcid.org/0000-0003-0275-9574"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ekaterina Tolstaya","raw_affiliation_strings":["University of Pennsylvania,Dept. of Electrical and Systems Engineering,Philadelphia,PA"],"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,Dept. of Electrical and Systems Engineering,Philadelphia,PA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078862959","display_name":"Alejandro Ribeiro","orcid":"https://orcid.org/0000-0003-4230-9906"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alejandro Ribeiro","raw_affiliation_strings":["University of Pennsylvania,Dept. of Electrical and Systems Engineering,Philadelphia,PA"],"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,Dept. of Electrical and Systems Engineering,Philadelphia,PA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5069506165"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":0.99379054,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.74821635,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"5260","last_page":"5264"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13553","display_name":"Age of Information Optimization","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T13553","display_name":"Age of Information Optimization","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11273","display_name":"Advanced Graph Neural Networks","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10502","display_name":"Advanced Memory and Neural Computing","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.7852046489715576},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7639893293380737},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.715482234954834},{"id":"https://openalex.org/keywords/flocking","display_name":"Flocking (texture)","score":0.6845635175704956},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.6649672985076904},{"id":"https://openalex.org/keywords/decentralised-system","display_name":"Decentralised system","score":0.568723201751709},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5072569251060486},{"id":"https://openalex.org/keywords/transferability","display_name":"Transferability","score":0.4928891658782959},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.46573203802108765},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44732236862182617},{"id":"https://openalex.org/keywords/autonomous-agent","display_name":"Autonomous agent","score":0.4470069408416748},{"id":"https://openalex.org/keywords/dynamical-systems-theory","display_name":"Dynamical systems theory","score":0.43407049775123596},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.2704405188560486},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.22866863012313843},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21824994683265686},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19138863682746887}],"concepts":[{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.7852046489715576},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7639893293380737},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.715482234954834},{"id":"https://openalex.org/C2781220375","wikidata":"https://www.wikidata.org/wiki/Q814208","display_name":"Flocking (texture)","level":2,"score":0.6845635175704956},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.6649672985076904},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.568723201751709},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5072569251060486},{"id":"https://openalex.org/C61272859","wikidata":"https://www.wikidata.org/wiki/Q7834031","display_name":"Transferability","level":3,"score":0.4928891658782959},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.46573203802108765},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44732236862182617},{"id":"https://openalex.org/C13687954","wikidata":"https://www.wikidata.org/wiki/Q4826847","display_name":"Autonomous agent","level":2,"score":0.4470069408416748},{"id":"https://openalex.org/C79379906","wikidata":"https://www.wikidata.org/wiki/Q3174497","display_name":"Dynamical systems theory","level":2,"score":0.43407049775123596},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2704405188560486},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.22866863012313843},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21824994683265686},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19138863682746887},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C140331021","wikidata":"https://www.wikidata.org/wiki/Q1868104","display_name":"Logit","level":2,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/icassp39728.2021.9414563","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icassp39728.2021.9414563","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ICASSP 2021 - 2021 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2003.10280","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.10280","pdf_url":"https://arxiv.org/pdf/2003.10280","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:3012606908","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2003.10280.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2003.10280","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2003.10280","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"},{"id":"doi:10.17023/kt17-hg88","is_oa":true,"landing_page_url":"https://doi.org/10.17023/kt17-hg88","pdf_url":null,"source":{"id":"https://openalex.org/S7407051697","display_name":"IEEE RESOURCE CENTERS","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2003.10280","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.10280","pdf_url":"https://arxiv.org/pdf/2003.10280","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"score":0.5299999713897705,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3012606908.pdf","grobid_xml":"https://content.openalex.org/works/W3012606908.grobid-xml"},"referenced_works_count":41,"referenced_works":["https://openalex.org/W1484739396","https://openalex.org/W1508718255","https://openalex.org/W1984560471","https://openalex.org/W1991252559","https://openalex.org/W2069525910","https://openalex.org/W2101491865","https://openalex.org/W2112820013","https://openalex.org/W2114791779","https://openalex.org/W2142641780","https://openalex.org/W2166766502","https://openalex.org/W2796431263","https://openalex.org/W2798598284","https://openalex.org/W2940133096","https://openalex.org/W2943959761","https://openalex.org/W2962957031","https://openalex.org/W2963001915","https://openalex.org/W2963358464","https://openalex.org/W2964015378","https://openalex.org/W2964311892","https://openalex.org/W2964321699","https://openalex.org/W2984689574","https://openalex.org/W2990385600","https://openalex.org/W3002369146","https://openalex.org/W3005144047","https://openalex.org/W3013958775","https://openalex.org/W3015689570","https://openalex.org/W3028801376","https://openalex.org/W3047747336","https://openalex.org/W3095521706","https://openalex.org/W3130631955","https://openalex.org/W3160221829","https://openalex.org/W3211076793","https://openalex.org/W4239216443","https://openalex.org/W6631190155","https://openalex.org/W6680724558","https://openalex.org/W6720006811","https://openalex.org/W6726873649","https://openalex.org/W6746015598","https://openalex.org/W6760725535","https://openalex.org/W6772062266","https://openalex.org/W6772967312"],"related_works":["https://openalex.org/W3116155913","https://openalex.org/W3085229217","https://openalex.org/W3043057222","https://openalex.org/W2964311892","https://openalex.org/W2964121744","https://openalex.org/W2962711740","https://openalex.org/W2943959761","https://openalex.org/W2798598284","https://openalex.org/W2998402843","https://openalex.org/W2025544574","https://openalex.org/W2955780589","https://openalex.org/W2138620179","https://openalex.org/W766581931","https://openalex.org/W3022379171","https://openalex.org/W3024470093","https://openalex.org/W3008230838","https://openalex.org/W2734559931","https://openalex.org/W1483450678","https://openalex.org/W2803208334","https://openalex.org/W3184132996"],"abstract_inverted_index":{"Dynamical":[0],"systems":[1,22],"comprised":[2],"of":[3,24,43,114,122],"autonomous":[4],"agents":[5],"arise":[6],"in":[7,41,124],"many":[8],"relevant":[9],"problems":[10],"such":[11],"as":[12,97],"multi-agent":[13],"robotics,":[14],"smart":[15,18],"grids,":[16],"or":[17],"cities.":[19],"Controlling":[20],"these":[21],"is":[23,116],"paramount":[25],"importance":[26],"to":[27,57,71,93,106,118],"guarantee":[28],"a":[29,64],"successful":[30],"deployment.":[31],"Optimal":[32,48],"centralized":[33],"controllers":[34,74],"are":[35,55,79,101],"readily":[36],"available":[37],"but":[38],"face":[39],"limitations":[40],"terms":[42],"scalability":[44,108],"and":[45,103,109],"practical":[46],"implementation.":[47],"decentralized":[49,73,126],"controllers,":[50],"on":[51],"the":[52,88,120],"other":[53],"hand,":[54],"difficult":[56],"find.":[58],"In":[59],"this":[60],"paper,":[61],"we":[62,90],"propose":[63],"framework":[65],"using":[66],"graph":[67],"neural":[68],"networks":[69],"(GNNs)":[70],"learn":[72],"from":[75],"data.":[76],"While":[77],"GNNs":[78,123],"naturally":[80],"distributed":[81],"architectures,":[82],"making":[83],"them":[84,92],"perfectly":[85],"suited":[86],"for":[87],"task,":[89],"adapt":[91],"handle":[94],"delayed":[95],"communications":[96],"well.":[98],"Furthermore,":[99],"they":[100],"equivariant":[102],"stable,":[104],"leading":[105],"good":[107],"transferability":[110],"properties.":[111],"The":[112],"problem":[113],"flocking":[115],"explored":[117],"illustrate":[119],"potential":[121],"learning":[125],"controllers.":[127]},"counts_by_year":[{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":2}],"updated_date":"2026-02-09T09:26:11.010843","created_date":"2025-10-10T00:00:00"}