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Cooperative Source Seeking in Scalar Field: A Virtual Structure-Based Spatial-Temporal Method

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Collaborative Computing: Networking, Applications and Worksharing (CollaborateCom 2020)

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Abstract

Source seeking problem has been faced in many fields, especially in search and rescue applications such as first-response rescue, gas leak search, etc. We proposed a virtual structure based spatial-temporal method to realize cooperative source seeking using multi-agents. Spatially, a circular formation is considered to gather collaborative information and estimate the gradient direction of the formation center. In terms of temporal information, we make use of the formation positions in time sequence to construct a virtual structure sequence. Then, we fuse the sequential gradient as a whole. A control strategy with minimum movement cost is proposed. This strategy rotates the target formation by a certain angle to make the robot team achieve the minimum moving distance value when the circular team moves to the next position. Experimental results show that, compared with state-of-the-art, the proposed method can quickly find the source in as few distances as possible, so that the formation can minimize the movement distance during the moving process, and increase the efficiency of source seeking. Numerical simulations confirm the efficiency of the scheme put forth. Compared with state-of-the-art source seeking methods, the iterative steps of our proposed method is reduced by 20%, indicating that the method can find the signal source with higher efficiency and lower energy consumption, as well as better robustness.

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Acknowledgments

This work is supported in part by National Postdoctoral Program for Innovative Talents under Grant BX20190033, in part by Guangdong Basic and Applied Basic Research Foundation under Grant 2019A1515110325, in part by Project funded by China Postdoctoral Science Foundation under Grant 2020M670135, in part by Postdoctor Research Foundation of Shunde Graduate School of University of Science and Technology Beijing under Grant 2020BH001, and in part by the Fundamental Research Funds for the Central Universities under Grant 06500127 and FRF-GF-19-018B.

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Authors and Affiliations

  1. School of Computer and Communication Engineering, University of Science and Technology Beijing, Beijing, China

    Cheng Xu, Yulin Chen, Shihong Duan, Hang Wu & Yue Qi

  2. Shunde Graduate School, University of Science and Technology Beijing, Beijing, China

    Cheng Xu, Yulin Chen, Shihong Duan, Hang Wu & Yue Qi

  3. Beijing Key Laboratory of Knowledge Engineering for Materials Science, Beijing, China

    Cheng Xu, Yulin Chen, Shihong Duan, Hang Wu & Yue Qi

Authors
  1. Cheng Xu
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  2. Yulin Chen
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  3. Shihong Duan
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  4. Hang Wu
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  5. Yue Qi
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Corresponding author

Correspondence to Shihong Duan .

Editor information

Editors and Affiliations

  1. Shanghai University, Shanghai, China

    Honghao Gao

  2. Xi’an Jiaotong-Liverpool University, Suzhou, China

    Xinheng Wang

  3. London South Bank University, London, UK

    Muddesar Iqbal

  4. Hangzhou Dianzi University, Hangzhou, China

    Yuyu Yin

  5. Zhejiang University, Hangzhou, China

    Jianwei Yin

  6. Fudan University, Shanghai, China

    Ning Gu

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© 2021 ICST Institute for Computer Sciences, Social Informatics and Telecommunications Engineering

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Xu, C., Chen, Y., Duan, S., Wu, H., Qi, Y. (2021). Cooperative Source Seeking in Scalar Field: A Virtual Structure-Based Spatial-Temporal Method. In: Gao, H., Wang, X., Iqbal, M., Yin, Y., Yin, J., Gu, N. (eds) Collaborative Computing: Networking, Applications and Worksharing. CollaborateCom 2020. Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, vol 350. Springer, Cham. https://doi.org/10.1007/978-3-030-67540-0_19

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  • DOI: https://doi.org/10.1007/978-3-030-67540-0_19

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-67539-4

  • Online ISBN: 978-3-030-67540-0

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