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Decentralized optimization, with application to multiple aircraft coordination
Abstract
We present a decentralized optimization method for solving the coordination problem of interconnected nonlinear discrete-time dynamic systems with multiple decision makers. The optimization framework embeds the inherent structure in which each decision maker has a mathematical model that captures only the local dynamics and the associated interconnecting global constraints. A globally convergent algorithm based on sequential local optimizations is presented. Under assumptions of differentiability and linear independence constraint qualification, we show that the method results in global convergence to /spl epsiv/-feasible Nash solutions that satisfy the Karush-Kuhn-Tucker necessary conditions for Pareto-optimality. We apply this methodology to a multiple unmanned air vehicle system, with kinematic aircraft models, coordinating in a common airspace with separation requirements between the aircraft.
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Cited by
On the Linear Convergence of the ADMM in Decentralized Consensus Optimization
Shi, W., Ling, Q., Yuan, K., Wu, G., & Yin, W. (2014) · IEEE Transactions on Signal Processing · doi:10.1109/tsp.2014.2304432 · Cited by 820
Cooperative forest fire surveillance using a team of small unmanned air vehicles
Casbeer, D. W., Kingston, D. B., Beard, R. W., & McLain, T. W. (2006) · International Journal of Systems Science · doi:10.1080/00207720500438480 · Cited by 532
Decentralized Cooperative Aerial Surveillance Using Fixed-Wing Miniature UAVs
Beard, R. W., McLain, T. W., Nelson, D. B., Kingston, D., & Johanson, D. (2006) · Proceedings of the IEEE · doi:10.1109/jproc.2006.876930 · Cited by 454
Comprehensive survey of UAVs communication networks
Hentati, A. I., & Fourati, L. C. (2020) · Computer Standards & Interfaces · doi:10.1016/j.csi.2020.103451 · Cited by 184
Metadata
- Authors
- Inalhan, G., Stipanovic, D. M., & Tomlin, C. J.
- Venue
- Proceedings of the 41st IEEE Conference on Decision and Control, 2002.
- Publisher
- IEEE
- Published
- 2003-08-27
- Volume
- 1
- Pages
- 1147-1155
- ISSN
- 0191-2216 (ISSN-L)
- OpenAlex
- W2166344854
- Cited by
- 261
- References
- 0
- FWCI
- 8.39
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Inalhan, G., Stipanovic, D. M., & Tomlin, C. J. (2003). Decentralized optimization, with application to multiple aircraft coordination. Proceedings of the 41st IEEE Conference on Decision and Control, 2002. https://doi.org/10.1109/cdc.2002.1184667
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