In practice, objective functions of real-time control systems can have multiple local minimums or can dramatically change over the function space, making them hard to optimize. To efficiently optimize such systems, in this paper, we develop a parallel global optimization framework that combines direct search methods with parallel Bayesian optimization. It consists of an iterative global and local search that searches broadly through the entire global space for promising regions and then efficiently exploits each local promising region. We prove the asymptotic convergence properties of the proposed framework and conduct several numerical experiments to illustrate its empirical performance. We also provide a real-time control problem to illustrate the efficiency of our proposed algorithm.Note to Practitioners—This work is motivated by a collision avoidance problem of vessels aided with onboard agent-based simulations. The simulation on one vessel can predict potential conflicts with other vessels on a pre-defined trajectory. In heavy congestion regions, the environment is highly dynamic and thus it is difficult to find a much safer alternative trajectory if collision is predicted on the current one. Moreover, for such real-time decisions, the control system should be quick in response to improve safety. The proposed metamodel based algorithm is designed for quick decision in such highly dynamic systems. The algorithm employs a decomposition of the response surface to better handle the multi-modal surface resulting from the highly dynamic environment. Specifically, it first looks at the large-scale trend globally (filter out the many local fluctuations that may otherwise trap the algorithm) to locate potential promising regions and then proceeds to this local regions for more detailed local search. To make quick decisions, it uses fast direct search algorithms in the local search phase and applies a parallel search scheme to enjoy the abundant computing power. Both the theoretical analysis and the simulation studies demonstrate that the proposed algorithm can provide better decisions quickly. We also note that this algorithm is not limited to real-time control or simulation-based system. In the case where each run of the experiment is expensive and the budget is limited for the final decision and when the response function is multi-modal, this algorithm can hopefully become a quite efficient and competitive approach. The multi-modal responses have broad applications in the area of control, planning and operations research, such as robot navigating and reinforcement learning.

Gaussian process (GP) model based optimization is widely applied in simulation and machine learning. In general, it first estimates a GP model based on a few observations from the true response and then uses this model to guide the search, aiming to quickly locate the global optimum. Despite its successful applications, it has several limitations that may hinder its broader use. First, building an accurate GP model can be difficult and computationally expensive, especially when the response function is multimodal or varies significantly over the design space. Second, even with an appropriate model, the search process can be trapped in suboptimal regions before moving to the global optimum because of the excessive effort spent around the current best solution. In this work, we adopt the additive global and local GP (AGLGP) model in the optimization framework. The model is rooted in the inducing points based GP sparse approximations and is combined with independent local models in different regions. With these properties, the AGLGP model is suitable for multimodal responses with relatively large data sizes. Based on this AGLGP model, we propose a combined global and local search for optimization (CGLO) algorithm. It first divides the whole design space into disjoint local regions and identifies a promising region with the global model. Next, a local model in the selected region is fit to guide detailed search within this region. The algorithm then switches back to the global step when a good local solution is found. The global and local natures of CGLO enable it to enjoy the benefits of both global and local search to efficiently locate the global optimum. Summary of Contribution: This work proposes a new Gaussian process based algorithm for stochastic simulation optimization, which is an important area in operations research. This type of algorithm is also regarded as one of the state-of-the-art optimization algorithms for black-box functions in computer science. The aim of this work is to provide a computationally efficient optimization algorithm when the baseline functions are highly nonstationary (the function values change dramatically across the design space). Such nonstationary surfaces are very common in reality, such as the case in the maritime traffic safety problem considered here. In this problem, agent-based simulation is used to simulate the probability of collision of one vessel with the others on a given trajectory, and the decision maker needs to choose the trajectory with the minimum probability of collision quickly. Typically, in a high-congestion region, a small turn of the vessel can result in a very different conflict environment, and thus the response is highly nonstationary. Through our study, we find that the proposed algorithm can provide safer choices within a limited time compared with other methods. We believe the proposed algorithm is very computationally efficient and has large potential in such operational problems.