|Publisher DOI:||10.1109/CONTROL.2014.6915213||Title:||Cooperative source seeking via gradient estimation and formation control (Part 2)||Language:||English||Authors:||Rosero García, Esteban Emilio
|Issue Date:||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 paper, a distributed gradient estimation for each agent and a decentralized navigation controller for single- and double-integrator models are presented. In this paper, that approach is extended to general linear time-invariant (LTI) models. Our approach is verified using formation flight simulation for quad-rotor helicopters and stability conditions are provided.
|Conference:||UKACC International Conference on Control, CONTROL 2014||URI:||http://hdl.handle.net/11420/14654||ISBN:||9781479950119||Institute:||Regelungstechnik E-14||Document Type:||Chapter/Article (Proceedings)|
|Appears in Collections:||Publications without fulltext|
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