Junge, O.; Marsden, J.E.; Ober-Blöbaum, S.:

Proceedings of the 45th IEEE Conference on Decision and Control, pp. 5210-5215, 2006. This paper introduces a hierarchical, decentralized, and parallelizable method for dealing with optimization problems with many agents. It is theoretically based on a hierarchical optimization theorem that gives the equivalence of two forms of the problem, and this idea is implemented using DMOC (Discrete Mechanics and Optimal Control). The result is a method that is scalable to certain optimization problems for large numbers of agents, whereas the usual ``monolithic'' approach can only deal with systems with a rather small number of degrees of freedom. The method is illustrated with the example of deployment of spacecraft, motivated by the Darwin (ESA) and Terrestrial Planet Finder (NASA) missions.

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**Optimal Reconfiguration of Formation Flying Spacecraft - a Decentralized Approach**,Proceedings of the 45th IEEE Conference on Decision and Control, pp. 5210-5215, 2006. This paper introduces a hierarchical, decentralized, and parallelizable method for dealing with optimization problems with many agents. It is theoretically based on a hierarchical optimization theorem that gives the equivalence of two forms of the problem, and this idea is implemented using DMOC (Discrete Mechanics and Optimal Control). The result is a method that is scalable to certain optimization problems for large numbers of agents, whereas the usual ``monolithic'' approach can only deal with systems with a rather small number of degrees of freedom. The method is illustrated with the example of deployment of spacecraft, motivated by the Darwin (ESA) and Terrestrial Planet Finder (NASA) missions.