Distributed source seeking with formation control of multi-agent systems

Publikationstyp
Doctoral Thesis
Publikationsdatum
2023
Sprache
English
Author
Ahmadi Barogh, Siavash 
Advisor
Werner, Herbert 
Referee
Weltin, Uwe 
Title Granting Institution
Technische Universität Hamburg
Place of Title Granting Institution
Hamburg
Examination Date
2022-12-15
Institut
Regelungstechnik E-14 
DOI
10.15480/882.5125
TORE-URI
http://hdl.handle.net/11420/15325
Citation
Dr. Hut 978-3-8439-5290-3: (2023)
Publisher
Dr. Hut
This thesis proposes a novel approach to the problem of cooperative source seeking based on formation control. Two types of formation control - displacement based and distance based - are considered and adapted to different agent models. A Lyapunov stability analysis of the
proposed approach is given. The practicality of the method is demonstrated in simulation studies. In addition, the method has been validated experimentally by implementing a distance-based formation control scheme for source seeking by a group of wheeled robots.
Schlagworte
Multi-agent systems
Formation control
Source-seeking
Gradient estimation
distance-based formation control
DDC Class
620: Ingenieurwissenschaften
Publication version
submittedVersion
Lizenz
https://creativecommons.org/licenses/by/4.0/
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