A broadly applicable algorithm for computing maximum likelihood estimates from incomplete data is presented at various levels of generality. Theory showing the monotone behaviour of the likelihood and convergence of the algorithm is derived. Many examples are sketched, including missing value

problem; in particular, we present an Expectation-Maximization (EM) algorithm for adjusting the parame-ters of the architecture. We also develop an on-line learning algorithm in which the pa-rameters are updated incrementally. Comparative simulation results are presented in the robot dynamics domain.

Summary. This paper provides a theoretical framework for analysis of consensus algorithms for multi-agent networked systems with an emphasis on the role of directed information flow, robustness to changes in network topology due to link/node failures, time-delays, and performance guarantees

. The EM algorithm performs maximum likelihood estimation for data in which some variables are unobserved. We present a function that resembles negative free energy and show that the M step maximizes this function with respect to the model parameters and the E step maximizes it with respect

leader determination) for groups of discrete-time agents. In each case, we introduce a linear/nonlinear consensus protocol and provide convergence analysis for the proposed distributed algorithm. Moreover, we establish a connection between the Fiedler eigenvalue of the information flow in a network (i

We describe the maximum-likelihood parameter estimation problem and how the Expectation-form of the EM algorithm as it is often given in the literature. We then develop the EM parameter estimation procedure for two applications: 1) finding the parameters of a mixture of Gaussian densities, and 2

quantities of unlabeled documents are readily available. We introduce an algorithm for learning from labeled and unlabeled documents based on the combination of Expectation-Maximization (EM) and a naive Bayes classifier. The algorithm first trains a classifier using the available labeled documents

their geometric images. In this paper we develop efficient algorithms for em-bedding graphs low-dimensionally with a small distortion. Further algorithmic applications include: 0 A simple, unified approach to a number of prob-lems on multicommodity flows, including the Leighton-Rae Theorem [29] and some of its ex

methods are limited to using MRF as a general prior in an FM model-based approach. To fit the HMRF model, an EM algorithm is used. We show that by incorporating both the HMRF model and the EM algorithm into a HMRF-EM framework, an accurate and robust segmentation can be achieved. More importantly

for solving all problems. At the same time, a consensus appears to have developed to the effect that it is unlikely that any single algorithm is always the best choice for all classes of problem. In this paper we argue that an adaptive approach should play an important part in constraint satisfaction