Optima localization by vehicle formations imitating the Nelder-Mead simplex algorithm |
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| Authors: | Shahab Kalantar Uwe R. Zimmer |
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| 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 |
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| 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. |
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