Conference Publications

[176555]
Title: Gradient Free Source-Seeking Using Flocking Behavior.
Written by: Turgeman, Avi and Datar, Adwait and Werner, Herbert
in: <em>2019 Annual American Control Conference (ACC)</em>. (2019).
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on pages: 4647--4652
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Publisher: IEEE:
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DOI: 10.23919/ACC.2019.8815372
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Abstract: In this paper we propose a novel scheme that allows a group of mobile agents equipped with sensing capabilities to locate the unknown maximum of a scalar field. The scheme avoids the restrictions associated with gradient estimation, imposing predetermined formations on the agents or global localization. Instead the flocking approach is combined with a technique inspired by glowworm swarm optimization. Under reasonable assumptions we prove stability and boundedness of trajectories. 3-D simulation as well as 2-D experimental results illustrate that the proposed method outperform an existing technique in terms of smoothness of the trajectories.

[176555]
Title: Gradient Free Source-Seeking Using Flocking Behavior.
Written by: Turgeman, Avi and Datar, Adwait and Werner, Herbert
in: <em>2019 Annual American Control Conference (ACC)</em>. (2019).
Volume: Number:
on pages: 4647--4652
Chapter:
Editor:
Publisher: IEEE:
Series:
Address:
Edition:
ISBN:
how published:
Organization:
School:
Institution:
Type:
DOI: 10.23919/ACC.2019.8815372
URL:
ARXIVID:
PMID:

Note:

Abstract: In this paper we propose a novel scheme that allows a group of mobile agents equipped with sensing capabilities to locate the unknown maximum of a scalar field. The scheme avoids the restrictions associated with gradient estimation, imposing predetermined formations on the agents or global localization. Instead the flocking approach is combined with a technique inspired by glowworm swarm optimization. Under reasonable assumptions we prove stability and boundedness of trajectories. 3-D simulation as well as 2-D experimental results illustrate that the proposed method outperform an existing technique in terms of smoothness of the trajectories.