Distributed source seeking by cooperative robots: All-to-all and limited communications

Shuai Li; Yi Guo

doi:10.1109/ICRA.2012.6224713

Distributed source seeking by cooperative robots: All-to-all and limited communications

Shuai Li, Yi Guo

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

44 Citations (Scopus)

Abstract

We consider the problem of source seeking using a group of mobile robots equipped with sensors for concentration measurement (instead of the gradient). In our formulation, each robot maintains a gradient estimation, moves to the source by tracing the gradient, and all together keep a predefined formation in movement. We present two control algorithms with all-to-all and limited communications, respectively. The estimation error is taken into account to derive robust control algorithms. Comparing to existing methods, the proposed algorithm with limited communications is fully distributed. Both theoretical analysis and numerical simulations are given to validate the effectiveness of our methods.

Original language	English
Title of host publication	2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Publisher	IEEE
Pages	1107-1112
Number of pages	6
ISBN (Print)	9781467314039
DOIs	https://doi.org/10.1109/ICRA.2012.6224713
Publication status	Published - 1 Jan 2012
Externally published	Yes
Event	2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States Duration: 14 May 2012 → 18 May 2012

Conference

Conference	2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Country/Territory	United States
City	Saint Paul, MN
Period	14/05/12 → 18/05/12

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

More information

10.1109/ICRA.2012.6224713

Cite this

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title = "Distributed source seeking by cooperative robots: All-to-all and limited communications",

abstract = "We consider the problem of source seeking using a group of mobile robots equipped with sensors for concentration measurement (instead of the gradient). In our formulation, each robot maintains a gradient estimation, moves to the source by tracing the gradient, and all together keep a predefined formation in movement. We present two control algorithms with all-to-all and limited communications, respectively. The estimation error is taken into account to derive robust control algorithms. Comparing to existing methods, the proposed algorithm with limited communications is fully distributed. Both theoretical analysis and numerical simulations are given to validate the effectiveness of our methods.",

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Li, S & Guo, Y 2012, Distributed source seeking by cooperative robots: All-to-all and limited communications. in 2012 IEEE International Conference on Robotics and Automation, ICRA 2012., 6224713, IEEE, pp. 1107-1112, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012, Saint Paul, MN, United States, 14/05/12. https://doi.org/10.1109/ICRA.2012.6224713

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AB - We consider the problem of source seeking using a group of mobile robots equipped with sensors for concentration measurement (instead of the gradient). In our formulation, each robot maintains a gradient estimation, moves to the source by tracing the gradient, and all together keep a predefined formation in movement. We present two control algorithms with all-to-all and limited communications, respectively. The estimation error is taken into account to derive robust control algorithms. Comparing to existing methods, the proposed algorithm with limited communications is fully distributed. Both theoretical analysis and numerical simulations are given to validate the effectiveness of our methods.

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Distributed source seeking by cooperative robots: All-to-all and limited communications

Abstract

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ASJC Scopus subject areas

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