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Séminaire du département Automatique du 19/12/2013 à 14h00

 

Consensus-based Source-seeking with a Circular Formation of Agents

Intervenant : Lara Brinon-Arranz, Instituto Superior Técnico, Technical University of Lisbon, Portugal.

Lieu : Salle des séminairesdu DAUTO, B. 208, Gipsa-Lab, Bat B, 2ème étage

 

Résumé : Cooperative control of multi-agent systems has been extensively studied in recent literature due to its large number of applications. We focus on the design of collaborative control strategies in order to achieve exploration missions. In particular, the aim is to solve the source-seeking problem in which a group of autonomous vehicles must locate and follow the source of some signal based on measurements of the signal strength at different positions. Based on the observation that the gradient of the signal strength can be approximated by a circular formation of agents via a simple weighted average of the signal measured by the agents, we propose a distributed consensus-based source-seeking algorithm which is guaranteed to steer the circular formation towards the vicinity of the source location. In particular, the proposed algorithm is provided with two tunable parameters that allow for a tradeoff between speed of convergence, noise filtering and formation stability. The benefit of using consensus-based algorithms resides in a more realist discrete time control of the agents and in asynchronous communication resilient to delays which is particularly relevant for underwater applications.


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