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

Shuai Li, Yi Guo

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

44 Scopus citations

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
Pages1107-1112
Number of pages6
DOIs
StatePublished - 2012
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: 14 May 201218 May 2012

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

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

Fingerprint

Dive into the research topics of 'Distributed source seeking by cooperative robots: All-to-all and limited communications'. Together they form a unique fingerprint.

Cite this