Options
Mission control - combined solutions for source seeking and level curve tracking in a time-varying field
Publikationstyp
Conference Paper
Date Issued
2017-07-03
Sprache
English
Author(s)
Institut
TORE-URI
Start Page
4268
End Page
4273
Article Number
7963611
Citation
Proceedings of the American Control Conference: 7963611, 4268-4273 (2017)
Contribution to Conference
Publisher DOI
Scopus ID
Publisher
IEEE
In this paper we propose a novel mission control strategy for a group of agents to locate an unknown source, represented as maximum of a scalar field, and to track a specified level curve. We propose a distributed control scheme based on hierarchy formation and reduced topology. Without prior knowledge of the field, the agents, equipped with local sensors, navigate in ℝp using an estimated gradient method and their neighbors' shared measurements. The contributions of this paper are twofold. First, we propose a finite iteration process for reaching a discrete consensus between all agents for switching from one task to the next. Each group of agents determines their current task according to the status of the other groups in the network. Second, a 4-tasks algorithm is proposed for exploring a time-varying, noisy field. Simulations for a group of 32 agents are shown, illustrating the algorithm robustness to a time-varying field with noise corrupted measurements.
DDC Class
600: Technik