TY - JOUR
T1 - Cooperative distributed source seeking by multiple robots
T2 - Algorithms and experiments
AU - Li, Shuai
AU - Kong, Ruofan
AU - Guo, Yi
PY - 2014/12
Y1 - 2014/12
N2 - We consider the problem of source seeking using a group of mobile robots equipped with sensors for source concentration measurement. In the formulation, the robot team cooperatively estimates the gradient of the source field, moves to the source by tracing the gradient-ascending direction, and keeps a predefined formation in movement. We present two control algorithms with all-to-all and limited communications, respectively. For the case of all-to-all communication, rigorous analytic analysis proves that the formation center of the robots converges to the source in the presence of estimation errors with a bounded error, the upper bound of which is explicitly given. In the case of limited communication where centralized quantities are not available, distributed consensus filters are used to distributively estimate the centralized quantities, and then embedded in the distributed control laws. Numerical simulations are given to validate the effectiveness of the proposed approaches. Experimental results on the E-puck robot platform demonstrate satisfactory performances in a light source seeking application.
AB - We consider the problem of source seeking using a group of mobile robots equipped with sensors for source concentration measurement. In the formulation, the robot team cooperatively estimates the gradient of the source field, moves to the source by tracing the gradient-ascending direction, and keeps a predefined formation in movement. We present two control algorithms with all-to-all and limited communications, respectively. For the case of all-to-all communication, rigorous analytic analysis proves that the formation center of the robots converges to the source in the presence of estimation errors with a bounded error, the upper bound of which is explicitly given. In the case of limited communication where centralized quantities are not available, distributed consensus filters are used to distributively estimate the centralized quantities, and then embedded in the distributed control laws. Numerical simulations are given to validate the effectiveness of the proposed approaches. Experimental results on the E-puck robot platform demonstrate satisfactory performances in a light source seeking application.
KW - Consensus filter
KW - distributed control
KW - multi-robots
KW - source seeking
UR - http://www.scopus.com/inward/record.url?scp=84903267276&partnerID=8YFLogxK
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U2 - 10.1109/TMECH.2013.2295036
DO - 10.1109/TMECH.2013.2295036
M3 - Article
AN - SCOPUS:84903267276
SN - 1083-4435
VL - 19
SP - 1810
EP - 1820
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
IS - 6
M1 - 6698334
ER -