Title :
A global optimization method for the stackelberg problem with convex functions via problem transformation and concave programming
Author :
Shimizu, Kiyotaka ; Lu, Min
Author_Institution :
Faculty of Science and Technology, Keio University, Yokohama 223, Japan
Abstract :
A global optimization method is proposed for solving the Stackelberg problem through problem transformation and concave programming. The proposed method is applicable to a broad class of the Stackelberg problem, in which each function in upper-level is convex or a difference of two convex functions, and that in lower-level is convex.
Keywords :
actuators; cooperative systems; manipulator dynamics; optimisation; path planning; torque control; actuator torques; constraints; cooperative systems; motion planning; multiple objective optimization; multiple robot system; orthogonal projection; time-optimal motion; velocity profile; Acceleration; Actuators; Control systems; Instruments; Intelligent robots; Motion analysis; Motion planning; Multirobot systems; Path planning; Robot sensing systems;
Journal_Title :
Systems, Man and Cybernetics, IEEE Transactions on
