Asynchronous gradient-based optimisation for team decision making

George Mathews; Hugh Durrant-Whyte; Mikhail Prokopenko

doi:10.1109/CDC.2007.4434301

Asynchronous gradient-based optimisation for team decision making

George Mathews^*, Hugh Durrant-Whyte, Mikhail Prokopenko

^*Corresponding author for this work

Department of Computing

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding contribution

9 Citations (Scopus)

Abstract

This paper describes a decentralised asynchronous algorithm for negotiation in team decision and control problems, allowing multiple decision makers to propose and refine future decisions to optimise a common non-linear objective or cost function. A convergence requirement provides an intuitive relationship between the communication frequency, transmission delays and the degree of inter-agent coupling inherent in the system. The coupling is defined by the cross derivative of the objective function. The algorithm is applied to the control of multiple vehicles performing a search task with simulation results given.

Original language	English
Title of host publication	Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC
Place of Publication	Piscataway, NJ
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	3145-3150
Number of pages	6
ISBN (Electronic)	9781424414987
ISBN (Print)	1424414989, 9781424414970
DOIs	https://doi.org/10.1109/CDC.2007.4434301
Publication status	Published - 2007
Event	46th IEEE Conference on Decision and Control 2007, CDC - New Orleans, LA, United States Duration: 12 Dec 2007 → 14 Dec 2007

Publication series

Name	IEEE Conference on Decision and Control, including the Symposium on Adaptive Processes, Proceedings
Publisher	IEEE
ISSN (Print)	0191-2216

Other

Other	46th IEEE Conference on Decision and Control 2007, CDC
Country	United States
City	New Orleans, LA
Period	12/12/07 → 14/12/07

Access to Document

10.1109/CDC.2007.4434301

Link to publication in Scopus

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Cite this

Mathews, G., Durrant-Whyte, H., & Prokopenko, M. (2007). Asynchronous gradient-based optimisation for team decision making. In Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC (pp. 3145-3150). [4434301] (IEEE Conference on Decision and Control, including the Symposium on Adaptive Processes, Proceedings). Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/CDC.2007.4434301

Mathews, George ; Durrant-Whyte, Hugh ; Prokopenko, Mikhail. / Asynchronous gradient-based optimisation for team decision making. Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC. Piscataway, NJ : Institute of Electrical and Electronics Engineers (IEEE), 2007. pp. 3145-3150 (IEEE Conference on Decision and Control, including the Symposium on Adaptive Processes, Proceedings).

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Mathews, G, Durrant-Whyte, H & Prokopenko, M 2007, Asynchronous gradient-based optimisation for team decision making. in Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC., 4434301, IEEE Conference on Decision and Control, including the Symposium on Adaptive Processes, Proceedings, Institute of Electrical and Electronics Engineers (IEEE), Piscataway, NJ, pp. 3145-3150, 46th IEEE Conference on Decision and Control 2007, CDC, New Orleans, LA, United States, 12/12/07. https://doi.org/10.1109/CDC.2007.4434301

Asynchronous gradient-based optimisation for team decision making. / Mathews, George; Durrant-Whyte, Hugh; Prokopenko, Mikhail.

Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC. Piscataway, NJ : Institute of Electrical and Electronics Engineers (IEEE), 2007. p. 3145-3150 4434301 (IEEE Conference on Decision and Control, including the Symposium on Adaptive Processes, Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding contribution

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Mathews G, Durrant-Whyte H, Prokopenko M. Asynchronous gradient-based optimisation for team decision making. In Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC. Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE). 2007. p. 3145-3150. 4434301. (IEEE Conference on Decision and Control, including the Symposium on Adaptive Processes, Proceedings). https://doi.org/10.1109/CDC.2007.4434301