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Cooperative source seeking via gradient estimation and formation control (Part 1)
Publikationstyp
Conference Paper
Publikationsdatum
2014-10-01
Sprache
English
Institut
Start Page
628
End Page
633
Article Number
6915212
Citation
UKACC International Conference on Control (CONTROL 2014)
Contribution to Conference
Publisher DOI
Scopus ID
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.