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 
Werner, Herbert 
Issue Date: 1-Oct-2014
Source: UKACC International Conference on Control (CONTROL 2014)
Abstract (english): 
In this paper and its companion paper [14], 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)
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