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.
Optima localization by vehicle formations imitating the Nelder-Mead simplex algorithm
Lokalisierung von Optima durch Fahrzeugformationen mit Hilfe des Nelder-Mead-Simplexalgorithmus
Autonomous Robots ; 27 , 3 ; 239-260
2009
22 Seiten, 28 Quellen
Conference paper
English
Optima localization by vehicle formations imitating the Nelder-Mead simplex algorithm
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