کنفرانس مهندسی برق ایران

صفحه اصلی / سی و دومین کنفرانس بین المللی مهندسی برق

Optimal Placement of Followers Within the Convex Hull of Leaders: A Distributed Subgradient Approach

نویسندگان :

Seyedeh Mahsa Zakipour Bahambari¹ Saeed Khankalantary²

1- دانشگاه خواجه نصیر الدین طوسی 2- دانشگاه صنعتی خواجه نصیرالدین طوسی

کلمات کلیدی :

Optimal deployment،Distributed subgradient algorithm،Constrained nonsmooth convex optimization،multi-agent systems

چکیده :

In this paper, the objective is to achieve optimal deployment for followers in a convex hull created by leaders. The notion of optimal deployment entails guiding N followers so that their motion mapping over a two-dimensional region, resulting from the intersection of the three-dimensional convex hull formed by the leaders and a proposed plane passing through it, exhibits maximum overlap. Mapping followers onto the mentioned plane can represent their dynamic capabilities (maneuvering abilities), positional estimation errors, or a combination of both. The problem can be investigated using convex optimization theories in distributed multi-agent systems with fixed and connected graphs. To achieve this, a subgradient optimization algorithm based on the Karush-Kuhn-Tucker (KKT) approach is employed to address the followers' deployment, and tools from set-valued function theory and nonsmooth analysis are utilized to tackle the convex optimization problem in the distributed graph of agents. The objective function of the optimization problem comprises several local objective functions, which may be nonsmooth. The effectiveness of the distributed subgradient method for the optimal deployment of followers within the convex hull of leaders is verified through a simulation in a two-dimensional space with a limited number of agents (without sacrificing its generality).