Optima localization by vehicle formations imitating the Nelder-Mead simplex algorithm |
| |
| Authors: | Shahab Kalantar Uwe R Zimmer |
| |
| Affiliation: | (1) Department of Chemistry, Northeast Structural Genomics Consortium, The State University of New York at Buffalo, Buffalo, NY 14260, USA;(2) Department of Biological Sciences, Northeast Structural Genomics Consortium, Columbia University, New York, NY 10027, USA;(3) The Center for Advanced Biotechnology and Medicine, Department of Molecular Biology and Biochemistry, Northeast Structural Genomics Consortium, Rutgers University and Robert Wood Johnson Medical School, Piscataway, NJ 08854, USA;(4) Complex Carbohydrate Research Center and Department of Chemistry, University of Georgia, Athens, GA 30602-4712, USA |
| |
| 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. |
| |
| Keywords: | |
| 本文献已被 SpringerLink 等数据库收录！ |
|
