期刊
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
卷 60, 期 3, 页码 601-615出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2014.2364096
关键词
Time-varying; UAVs
资金
- National Science Foundation (NSF) [CMMI 07-42538, CCF 11-11342]
- ONR Navy Basic Research Challenge [N00014-12-1-0998]
- Direct For Computer & Info Scie & Enginr
- Division of Computing and Communication Foundations [1111342] Funding Source: National Science Foundation
We consider distributed optimization by a collection of nodes, each having access to its own convex function, whose collective goal is to minimize the sum of the functions. The communications between nodes are described by a time-varying sequence of directed graphs, which is uniformly strongly connected. For such communications, assuming that every node knows its out-degree, we develop a broadcast-based algorithm, termed the subgradient-push, which steers every node to an optimal value under a standard assumption of subgradient boundedness. The subgradient-push requires no knowledge of either the number of agents or the graph sequence to implement. Our analysis shows that the subgradient-push algorithm converges at a rate of O(ln t/root t). The proportionality constant in the convergence rate depends on the initial values at the nodes, the subgradient norms and, more interestingly, on both the speed of the network information diffusion and the imbalances of influence among the nodes.
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