|Publisher DOI:||10.1109/CONTROL.2014.6915212||Title:||Cooperative source seeking via gradient estimation and formation control (Part 1)||Language:||English||Authors:||Rosero García, Esteban Emilio
|Issue Date:||1-Oct-2014||Source:||UKACC International Conference on Control (CONTROL 2014)||Abstract (english):||
In this paper and its companion paper , the problem of cooperative source seeking by a formation of mobile agents is considered. Each agent is equipped with position and signal strength measurement sensors; their task is to find the maximum of the scalar field. Agents exchange information with neighboring agents through a communication network. In the first part of this couple of papers, a distributed gradient estimation for each agent and a decentralized navigation controller for single- and double-integrator models are presented. When the signal measurements are corrupted by noise, distributed consensus filters are used in order to estimate the gradient direction. The strategy is based on both a gradient estimating algorithm and a formation controller. Stability conditions are provided. Numerical simulations illustrate the effectiveness of the proposed control law. Part two extends this approach to general linear time-invariant models.
|Conference:||UKACC International Conference on Control, CONTROL 2014||URI:||http://hdl.handle.net/11420/14651||ISBN:||9781479950119||Institute:||Regelungstechnik E-14||Document Type:||Chapter/Article (Proceedings)|
|Appears in Collections:||Publications without fulltext|
Show full item record
checked on Jan 28, 2023
Add Files to Item
Note about this record
Cite this record
Items in TORE are protected by copyright, with all rights reserved, unless otherwise indicated.