Gronemeyer, MarcusMarcusGronemeyerBartels, MarcusMarcusBartelsWerner, HerbertHerbertWernerHorn, JoachimJoachimHorn2019-09-032019-09-032017-10-18IFAC-PapersOnLine 1 (50): 11427-11433 (2017)http://hdl.handle.net/11420/3271This 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.en1474-6670201711142711433Elsevierhttps://creativecommons.org/licenses/by-nc-nd/4.0/autonomous robotic systemscontroldecentralized controldistributed controlestimationevolutionary algorithmsguidance navigationmobile robotsmulti-agent systemsrobust controlTechnikConference Paper10.15480/882.347510.1016/j.ifacol.2017.08.180910.15480/882.3475Conference Paper