382 research outputs found
Cloud-Based Optimization: A Quasi-Decentralized Approach to Multi-Agent Coordination
New architectures and algorithms are needed to reflect the mixture of local
and global information that is available as multi-agent systems connect over
the cloud. We present a novel architecture for multi-agent coordination where
the cloud is assumed to be able to gather information from all agents, perform
centralized computations, and disseminate the results in an intermittent
manner. This architecture is used to solve a multi-agent optimization problem
in which each agent has a local objective function unknown to the other agents
and in which the agents are collectively subject to global inequality
constraints. Leveraging the cloud, a dual problem is formulated and solved by
finding a saddle point of the associated Lagrangian.Comment: 7 pages, 3 figure
Algorithm for Optimal Mode Scheduling in Switched Systems
This paper considers the problem of computing the schedule of modes in a
switched dynamical system, that minimizes a cost functional defined on the
trajectory of the system's continuous state variable. A recent approach to such
optimal control problems consists of algorithms that alternate between
computing the optimal switching times between modes in a given sequence, and
updating the mode-sequence by inserting to it a finite number of new modes.
These algorithms have an inherent inefficiency due to their sparse update of
the mode-sequences, while spending most of the computing times on optimizing
with respect to the switching times for a given mode-sequence. This paper
proposes an algorithm that operates directly in the schedule space without
resorting to the timing optimization problem. It is based on the Armijo step
size along certain Gateaux derivatives of the performance functional, thereby
avoiding some of the computational difficulties associated with discrete
scheduling parameters. Its convergence to local minima as well as its rate of
convergence are proved, and a simulation example on a nonlinear system exhibits
quite a fast convergence
Swarming robots
When lots of robots come together to form shapes, spread in an area, or move in one direction, their motion has to be planned carefully. We discuss how mathematicians devise strategies to help swarms of robots behave like an experienced, coordinated team
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