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Cooperative source seeking via gradient estimation and formation control (Part 2)
Publikationstyp
Conference Paper
Date Issued
2014-10
Sprache
English
Author(s)
Institut
Start Page
634
End Page
639
Article Number
6915213
Citation
UKACC International Conference on Control (CONTROL 2014)
Contribution to Conference
Publisher DOI
Scopus ID
In this paper and its companion paper [16], 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.