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 
Werner, Herbert 
Issue Date: Oct-2014
Source: UKACC International Conference on Control (CONTROL 2014)
Abstract (english): 
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.
Conference: UKACC International Conference on Control, CONTROL 2014 
ISBN: 9781479950119
Institute: Regelungstechnik E-14 
Document Type: Chapter/Article (Proceedings)
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