TY - GEN
T1 - Distributed source seeking by cooperative robots
T2 - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
AU - Li, Shuai
AU - Guo, Yi
PY - 2012
Y1 - 2012
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=84864480171&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84864480171&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2012.6224713
DO - 10.1109/ICRA.2012.6224713
M3 - Conference contribution
AN - SCOPUS:84864480171
SN - 9781467314039
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1107
EP - 1112
BT - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Y2 - 14 May 2012 through 18 May 2012
ER -