@inproceedings{1e9a73a191124234845a8d5958b3a8d6,
title = "Optimisation with Zeroth-Order Oracles in Formation",
abstract = "In this paper, we consider the optimisation of time varying functions by a network of agents with no gradient information. We propose a novel method to estimate the gradient at each agent's position using only neighbour information. The gradient estimation is coupled with a formation controller, to minimise gradient estimation error and prevent agent collisions. Convergence results for the algorithm are provided for functions which satisfy the Polyak-Lojasiewicz inequality. Simulations and numerical results are provided to support the theoretical results.",
author = "Elad Michael and Daniel Zelazo and Wood, {Tony A.} and Chris Manzie and Iman Shames",
note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 59th IEEE Conference on Decision and Control, CDC 2020 ; Conference date: 14-12-2020 Through 18-12-2020",
year = "2020",
month = dec,
day = "14",
doi = "10.1109/CDC42340.2020.9304272",
language = "English",
series = "Proceedings of the IEEE Conference on Decision and Control",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "5354--5359",
booktitle = "2020 59th IEEE Conference on Decision and Control, CDC 2020",
address = "United States",
}