I. Introduction
Wireless systems are integral to large scale intelligent systems, from robotics to the Internet of Things (IoT). The design of such systems requires optimal balancing of the numerous utilities and constraints that define the operating point of large networks of wireless connected devices. At a high level, such optimal design problems can be viewed as the allocation of a finite set of resources to achieve strong average performance over the randomly varying wireless channel. While these optimization problems can be easily formulated, they tend to be intractable as they are most often non-convex and infinite dimensional [1]. Some simplification is attained by working in the Lagrangian dual domain [1], [2] and subsequently using dual descent methods [3]–[5], or, alternatively, with heuristic optimization and scheduling methods [6]–[9].