Optimization with Zeroth-Order Oracles in Formation
Systems and Control
2020-08-03 v1 Systems and Control
Abstract
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.
Keywords
Cite
@article{arxiv.2007.15680,
title = {Optimization with Zeroth-Order Oracles in Formation},
author = {Elad Michael and Daniel Zelazo and Tony A. Wood and Chris Manzie and Iman Shames},
journal= {arXiv preprint arXiv:2007.15680},
year = {2020}
}
Comments
8 pages, 4 figures, accepted in The 2020 Conference on Decisions and Control