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Decentralized Control for a Swarm of Vehicles Performing Source Localization

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Abstract

In this paper, decentralized feedback controls are presented for a swarm of autonomous, robotic vehicles that is tasked with localizing a stationary, time-invariant source. The development of the feedback controls is motivated by classic function-minimization theory and the method is actually suited for a large collection of agents, where collection of agents may refer to, for example, a population of N design points in some variable space. We present the theory that supports the method, some example problems and their simulations to illustrate the method, and discuss some potential applications.

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Authors and Affiliations

  1. Department of Aerospace Engineering, Texas A&M University, U.S.A.; e-mail

    J. E. Hurtado

  2. Sandia National Laboratories, Albuquerque, NM 87185, U.S.A

    R. D. Robinett III, C. R. Dohrmann & S.Y. Goldsmith

Authors
  1. J. E. Hurtado
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  2. R. D. Robinett III
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  3. C. R. Dohrmann
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  4. S.Y. Goldsmith
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Hurtado, J.E., Robinett III, R.D., Dohrmann, C.R. et al. Decentralized Control for a Swarm of Vehicles Performing Source Localization. Journal of Intelligent and Robotic Systems 41, 1–18 (2004). https://doi.org/10.1023/B:JINT.0000049161.62303.e5

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  • DOI: https://doi.org/10.1023/B:JINT.0000049161.62303.e5

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