Sampling-Based Optimization for Multi-Agent Model Predictive Control

arXiv2211.11878MaRDI QIDQ6418052FDOQ6418052

Authors: Zi-Yi Wang, Augustinos D. Saravanos, Hassan Almubarak, Oswin So, Evangelos Theodorou 

Publication date: 21 November 2022

Abstract: We systematically review the Variational Optimization, Variational Inference and Stochastic Search perspectives on sampling-based dynamic optimization and discuss their connections to state-of-the-art optimizers and Stochastic Optimal Control (SOC) theory. A general convergence and sample complexity analysis on the three perspectives is provided through the unifying Stochastic Search perspective. We then extend these frameworks to their distributed versions for multi-agent control by combining them with consensus Alternating Direction Method of Multipliers (ADMM) to decouple the full problem into local neighborhood-level ones that can be solved in parallel. Model Predictive Control (MPC) algorithms are then developed based on these frameworks, leading to fully decentralized sampling-based dynamic optimizers. The capabilities of the proposed algorithms framework are demonstrated on multiple complex multi-agent tasks for vehicle and quadcopter systems in simulation. The results compare different distributed sampling-based optimizers and their centralized counterparts using unimodal Gaussian, mixture of Gaussians, and stein variational policies. The scalability of the proposed distributed algorithms is demonstrated on a 196-vehicle scenario where a direct application of centralized sampling-based methods is shown to be prohibitive.

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