Cooperative source seeking via gradient estimation and formation control (Part 2)

Author

Rosero, Esteban ; Werner, Herbert

Author_Institution

Sch. of Electr. & Electron. Eng., Univ. del Valle, Cali, Colombia

fYear

2014

fDate

9-11 July 2014

Firstpage

634

Lastpage

639

Abstract

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.

Keywords

aerospace simulation; autonomous aerial vehicles; decentralised control; distributed control; helicopters; mobile robots; multi-robot systems; path planning; sensors; stability; LTI model; communication network; cooperative source seeking; decentralized navigation controller; distributed gradient estimation; double-integrator models; formation control; formation flight simulation; general linear time-invariant model; mobile agents formation; position strength measurement sensor; quadrotor helicopters; signal strength measurement sensor; single-integrator models; stability conditions; Equations; Estimation; Noise; Radio frequency; Sensors; Stability analysis; Symmetric matrices;

fLanguage

English

Publisher

ieee

Conference_Titel

Control (CONTROL), 2014 UKACC International Conference on

Conference_Location

Loughborough

Type

conf

DOI

10.1109/CONTROL.2014.6915213

Filename

6915213