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This papers studies multi-agent (convex and nonconvex) optimization over static digraphs. We propose a general distributed asynchronous algorithmic framework whereby i) agents can update their local variables as well as communicate with their neighbors at any time, without any form of coordination; and ii) they can perform their local computations using (possibly) delayed, out-of-sync information from their neighbors. Delays need not be known to the agents or obey any specific profile, and can also be time-varying (but bounded). The algorithm builds on a tracking mechanism that is robust against asynchrony (in the above sense), whose goal is to estimate locally the sum of agents’ gradients. When applied to strongly convex functions, we prove that it converges at an R-linear (geometric) rate as long as the step-size is sufficiently small. A sublinear convergence rate is proved, when nonconvex problems and/or diminishing, uncoordinated step-sizes are employed. To the best of our knowledge, this is the first distributed algorithm with provable geometric convergence rate in such a general asynchonous setting.
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Geometric Solution to the Angles-Only Initial Orbit Determination Problem
Abstract Initial orbit determination (IOD) from line-of-sight (i.e., bearing) measurements is a classical problem in astrodynamics. Indeed, there are many well-established methods for performing the IOD task when given three line-of-sight observations at known times. Interestingly, and in contrast to these existing methods, concepts from algebraic geometry may be used to produce a purely geometric solution. This idea is based on the fact that bearings from observers in general position may be used to directly recover the shape and orientation of a three-dimensional conic (e.g., a Keplerian orbit) without any need for knowledge of time. In general, it is shown that five bearings at unknown times are sufficient to recover the orbit—without the use of any type of initial guess and without the need to propagate the orbit. Three bearings are sufficient for purely geometric IOD if the orbit is known to be (approximately) circular. The method has been tested over different scenarios, including one where extra observations make the system of equations over-determined.
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- Award ID(s):
- 2103310
- PAR ID:
- 10637978
- Publisher / Repository:
- Springer Science + Business Media
- Date Published:
- Journal Name:
- The Journal of the Astronautical Sciences
- Volume:
- 72
- Issue:
- 5
- ISSN:
- 2195-0571
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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