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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    Title :

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


    Additional title:

    Lokalisierung von Optima durch Fahrzeugformationen mit Hilfe des Nelder-Mead-Simplexalgorithmus


    Contributors:

    Published in:

    Autonomous Robots ; 27 , 3 ; 239-260


    Publication date :

    2009


    Size :

    22 Seiten, 28 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English