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

Shuai Li, Yi Guo

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

31 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 languageEnglish
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherIEEE
Pages1107-1112
Number of pages6
ISBN (Print)9781467314039
DOIs
Publication statusPublished - 1 Jan 2012
Externally publishedYes
Event2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: 14 May 201218 May 2012

Conference

Conference2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period14/05/1218/05/12

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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