# Optimization with Zeroth-Order Oracles in Formation

arXiv: https://arxiv.org/abs/2007.15680 · HTML: https://mlsanity.com/paper/2007.15680/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 30 Jul 2020.

## Built on by (most cited first, 1 of 1)

- [Communication-Efficient Zeroth-Order Distributed Online Optimization: Algorithm, Theory, and Applications](https://mlsanity.com/paper/2306.05655/) (2023)

## Abstract (arXiv)

In this paper, we consider the optimisation of time varying functions by a network of agents with no gradient information. The proposed a novel method to estimate the gradient at each agent's position using only neighbour information. The gradient estimation is coupled with a formation controller, to minimise gradient estimation error and prevent agent collisions. Convergence results for the algorithm are provided for functions which satisfy the Polyak-Lojasiewicz inequality. Simulations and numerical results are provided to support the theoretical results.