Publisher DOI: 10.1016/j.ifacol.2017.08.1809
Title: Using particle swarm optimization for source seeking in multi-agent systems
Language: English
Authors: Gronemeyer, Marcus 
Bartels, Marcus 
Werner, Herbert 
Horn, Joachim 
Keywords: autonomous robotic systems;control;decentralized control;distributed control;estimation;evolutionary algorithms;guidance navigation;mobile robots;multi-agent systems;robust control
Issue Date: 18-Oct-2017
Publisher: Elsevier
Source: IFAC-PapersOnLine 1 (50): 11427-11433 (2017)
Journal or Series Name: IFAC-PapersOnLine 
Abstract (english): This paper presents a novel approach to the source seeking problem, where a group of mobile agents tries to locate the maximum of a scalar field defined on the space in which they are moving. The agents know their position and the local value of the field, and by communicating with their neighbors estimate the gradient direction of the field. A distributed cooperative control scheme is then designed that drives the group towards the maximum while maintaining a specified formation. Previously proposed control schemes that are based on a combination of H∞-optimal formation control and local gradient estimation suffer from premature convergence to local maxima. To overcome this problem, here the use of particle swarm optimization for locating the global maximum is proposed. Agents take the role of particles and an information flow filter approach is employed to separate the consensus dynamics from the local feedback loops governing the agent dynamics. Stability of the overall scheme is established based on the small gain theorem, and by decomposing the synthesis problem for the distributed information flow filter the problem size is reduced to that of a single agent. Simulation results with multiple maxima and quadrocopter models as agents illustrate the practicality of the approach.
URI: http://hdl.handle.net/11420/3271
ISSN: 1474-6670
Institute: Regelungstechnik E-14 
Type: (wissenschaftlicher) Artikel
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