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Optimization with Zeroth-Order Oracles in Formation

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Document pages: 8 pages

Abstract: In this paper, we consider the optimisation of time varying functions by anetwork of agents with no gradient information. The proposed a novel method toestimate the gradient at each agent s position using only neighbourinformation. The gradient estimation is coupled with a formation controller, tominimise gradient estimation error and prevent agent collisions. Convergenceresults for the algorithm are provided for functions which satisfy thePolyak-Lojasiewicz inequality. Simulations and numerical results are providedto support the theoretical results.

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