Optima localization by vehicle formations imitating the Nelder-Mead simplex algorithm

Authors:
Shahab Kalantar;Uwe R. Zimmer
Affiliations:
College of Engineering and Computer Science, Australian National University, Canberra, Australia ACT 0200;College of Engineering and Computer Science, Australian National University, Canberra, Australia ACT 0200
Venue:
Autonomous Robots
Year:
2009

Citing 8
Cited 1

Gilding the Lily: A Variant of the Nelder-Mead Algorithm Based on Golden-Section Search

Computational Optimization and Applications
Convergence Properties of the Nelder--Mead Simplex Method in Low Dimensions

SIAM Journal on Optimization
Convergence of the Nelder--Mead Simplex Method to a Nonstationary Point

SIAM Journal on Optimization
Detection and Remediation of Stagnation in the Nelder--Mead Algorithm Using a Sufficient Decrease Condition

SIAM Journal on Optimization
Direct search methods: Then and now

Direct search methods: Then and now
Stability and Control of Collective Systems

Journal of Intelligent and Robotic Systems
Rigid formations of autonomous agents

Rigid formations of autonomous agents
Constrained optimization by applying the α constrained method to the nonlinear simplex method with mutations

IEEE Transactions on Evolutionary Computation

Attractor dynamics approach to formation control: theory and application

Autonomous Robots

Quantified Score

Hi-index	0.00

Visualization

Abstract

In this paper, we address the problem of localizing extrema points and iso-contours of ambient environmental fields (specifically, ocean bottom landscape and underwater plumes) using a networked formation of autonomous underwater vehicles. We propose the use of the Nelder-Mead extension to the basic simplex nonlinear optimization algorithm. In these robust gradient-free strategies, decisions are solely made based on field values measured by the individual vehicles, while measurements are fused and actions decided according to the algorithm. A main goal of this paper is to trigger interest in direct search methods as pertains to this type of robotic problem.