Asynchronous gradient-based optimisation for team decision making

George Mathews*, Hugh Durrant-Whyte, Mikhail Prokopenko

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference proceeding contributionpeer-review

11 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 languageEnglish
Title of host publicationProceedings of the 46th IEEE Conference on Decision and Control 2007, CDC
Place of PublicationPiscataway, NJ
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages3145-3150
Number of pages6
ISBN (Electronic)9781424414987
ISBN (Print)1424414989, 9781424414970
DOIs
Publication statusPublished - 2007
Event46th IEEE Conference on Decision and Control 2007, CDC - New Orleans, LA, United States
Duration: 12 Dec 200714 Dec 2007

Publication series

NameIEEE Conference on Decision and Control, including the Symposium on Adaptive Processes, Proceedings
PublisherIEEE
ISSN (Print)0191-2216

Other

Other46th IEEE Conference on Decision and Control 2007, CDC
CountryUnited States
CityNew Orleans, LA
Period12/12/0714/12/07

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