Conference Publications

[141062]
Title: Gradient Free Source-Seeking Using Flocking Behavior 2019 Annual American Control Conference (ACC)
Written by: Turgeman, Avi and Datar, Adwait and Werner, Herbert
in: 2019
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Publisher: IEEE
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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.