Optimization with Zeroth-Order Oracles in Formation

Autor:	Michael, Elad, Zelazo, Daniel, Wood, Tony A., Manzie, Chris, Shames, Iman
Rok vydání:	2020
Předmět:	Electrical Engineering and Systems Science - Systems and Control
Druh dokumentu:	Working Paper
Popis:	In this paper, we consider the optimisation of time varying functions by a network of agents with no gradient information. The proposed a novel method to estimate the gradient at each agent's position using only neighbour information. The gradient estimation is coupled with a formation controller, to minimise gradient estimation error and prevent agent collisions. Convergence results for the algorithm are provided for functions which satisfy the Polyak-Lojasiewicz inequality. Simulations and numerical results are provided to support the theoretical results. Comment: 8 pages, 4 figures, accepted in The 2020 Conference on Decisions and Control
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2007.15680 Zobrazit plný text záznamu View this record from Arxiv