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) |
Appears in Collections: | Publications without fulltext |
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