Comparison of Gradient Estimation in Cooperative Multi-Agent Source Seeking

Mochammad Sahal, Zulkifli Hidayat, Abdullah Alkaff

Abstract

Agent-based source seeking problem is addressed in this paper. This problem is relevant in, e.g., in hazardous gas leak in a chemical disaster.  In the cooperative search, agents develop a formation to effectively search the source by communicating one to another via a communication topology. The source, or the search target, is represented by a scalar field y which might describe a temperature level, hazardous concentration of substances or vapor. Every agent has the information on its own position and the value of y at any instance. The agents are identical modeled as single and double integrator. Consensus filter is used to control the agent formation and comparison three types of gradient estimation are employed to search the source.  Experiments show that the proposed schemes give good performance to solve cooperative search for source seeking problem

Full Text:

PDF

References

A. S. Matveev, H. Teimoori, and A. V. Savkin, Navigation of a unicycle-like mobile robot for environmental extremum seeking,” Automatica, vol. 47, no. 1, pp. 85 – 91, 2011.

R. Bachmayer and N. Leonard, “Vehicle networks for gradient descent in a sampled environment,” in Decision and Control, 2002, Proceedings of the 41st IEEE Conference on, vol. 1, dec. 2002, pp. 112 – 117 vol.1.

P. Ogren, E. Fiorelli, and N. Leonard, “Cooperative control of mobile sensor networks:adaptive gradient climbing in a distributed environment,” Automatic Control, IEEE Transactions on, vol. 49, no. 8, pp. 1292 – 1302, aug. 2004.

R. Olfati-Saber and J. S. Shamma, “Consensus filters for sensor networks and distributed sensor fusion,” in Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC 05. 44th IEEE Conference on, dec. 2005, pp. 6698 – 6703..

J. Cochran and M. Krstic. Nonholonomic source seeking with tuning of angular velocity. Automatic Control, IEEE Transactions on, 54(4):717 –731, april 2009.

J. Cochran, A. Siranosian, N. Ghods, and M. Krstic. 3-d source seeking for underactuated vehicles without position measurement. Robotics, IEEE Transactions on, 25(1):117 –129, feb. 2009.

J. Cortes. Achieving coordination tasks in finite time via nonsmooth gradient flows. In Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC ’05. 44th IEEE Conference on, pages 6376 – 6381, dec. 2005.

N. Ghods and M. Krstic. Multi-agent deployment around a source in one dimension by extremum seeking. In American Control Conference (ACC), 2010, pages 4794 –4799, 30 2010-july 2 2010.

Esteban Rosero and Herbert Werner. Cooperative Source Seeking via Gradient Estimation and Formation Control.

UKACC International Conference on Control

th - 11th July 2014, Loughborough, U.K.

DOI: https://doi.org/10.12962/j25796216.v1.i2.21

Refbacks

  • There are currently no refbacks.