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Paper TuC05.3

Li, Shuai (Stevens Institute of Technology), Guo, Yi (Stevens Institute of Technology)

Distributed Source Seeking by Cooperative Robots: All-To-All and Limited Communications

Scheduled for presentation during the Regular Session "Multi-Robot Systems 1" (TuC05), Tuesday, May 15, 2012, 15:00−15:15, Meeting Room 5 (Ska)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 11, 2017

Keywords Distributed Robot Systems, Behavior-Based Systems, Robust/Adaptive Control of Robotic Systems

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, that is, each robot needs only to communicate with its one-hop neighbors and no across-hop message passing is required. Both theoretical analysis and numerical simulations are given to validate the effectiveness of our methods.

 

 

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