相关论文: Source Seeking Control of Unicycle Robots with 3D-…

In this paper we validate, including experimentally, the effectiveness of a recent theoretical developments made by our group on control-affine Extremum Seeking Control (ESC) systems. In particular, our validation is concerned with the…

This paper introduces a novel model-free, real-time unicycle-based source seeking design. This design autonomously steers the unicycle dynamic system towards the extremum point of an objective function or physical/scalar signal that is…

We propose a self-contained, resilient and fully distributed solution for locating the maximum of an unknown scalar field using a swarm of robots that travel at a constant speed. Unlike conventional reactive methods relying on gradient…

Many autonomous robots aimed at source-seeking are studied, and their controls designed, using unicycle modeling and formulation. This is true not only for model-based controllers, but also for model-free, real-time control methods such as…

In this paper, we design an information-based multi-robot source seeking algorithm where a group of mobile sensors localizes and moves close to a single source using only local range-based measurements. In the algorithm, the mobile sensors…

We present a solution for locating the source, or maximum, of an unknown scalar field using a swarm of mobile robots. Unlike relying on the traditional gradient information, the swarm determines an ascending direction to approach the source…

This paper discusses the design of an extremum seeking controller that relies on a monitoring function for a class of SISO uncertain nonlinear systems characterized by arbitrary and uncertain relative degree. Our demonstration illustrates…

In this paper, we investigate the problem of source seeking with a unicycle in the presence of local extrema. Our study is motivated by the fact that most of the existing source seeking methods follow the gradient direction of the signal…

We present an algorithm to solve the problem of locating the source, or maxima, of a scalar field using a robot swarm. We demonstrate how the robot swarm determines its direction of movement to approach the source using only field intensity…

Autonomous robot networks are an effective tool for monitoring large-scale environmental fields. This paper proposes distributed control strategies for localizing the source of a noisy signal, which could represent a physical quantity of…

In active source seeking, a robot takes repeated measurements in order to locate a signal source in a cluttered and unknown environment. A key component of an active source seeking robot planner is a model that can produce estimates of the…

As environmental disasters happen more frequently and severely, seeking the source of pollutants or harmful particulates using plume tracking becomes even more important. Plume tracking on small quadrotors would allow these systems to…

We study an adaptive source seeking problem, in which a mobile robot must identify the strongest emitter(s) of a signal in an environment with background emissions. Background signals may be highly heterogeneous and can mislead algorithms…

This paper deals with the gradient extremum seeking control for static scalar maps with actuators governed by distributed diffusion partial differential equations (PDEs). To achieve the real-time optimization objective, we design a…

This paper presents a geometric control framework on the Lie group SO(3) for 3D source-seeking by robots with first-order attitude dynamics and constant translational speed. By working directly on SO(3), the approach avoids Euler-angle…

We consider a three-dimensional problem of steering a nonholonomic vehicle to seek an unknown source of a spatially distributed signal field without any position measurement. In the literature, there exists an extremum seeking-based…

This paper investigates multivariable extremum seeking using unit-vector control. By employing the gradient algorithm and a polytopic embedding of the unknown Hessian matrix, we establish sufficient conditions, expressed as linear matrix…

Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at…

All the existing source-seeking algorithms for unicycle models in GPS-denied settings guarantee at best an exponential rate of convergence over an infinite interval. Using the recently introduced time-varying feedback tools for…

In this paper, a combined formation acquisition and cooperative extremum seeking control scheme is proposed for a team of three robots moving on a plane. The extremum seeking task is to find the maximizer of an unknown two-dimensional…