Distributed Source Seeking without Global Position Information

Ruggero Fabbiano 1 Federica Garin 1 Carlos Canudas de Wit 1
1 NECS - Networked Controlled Systems
Inria Grenoble - Rhône-Alpes, GIPSA-DA - Département Automatique
Abstract : We present a distributed control law to steer a group of autonomous communicating sensors towards the source of a diffusion process. The graph describing the communication links between sensors has a time-invariant topology, and each sensor is able to measure (in addition to the quantity of interest) only the relative bearing angle with respect to its neighbour, but has no absolute position information and does not know any relative distance. Using multiple sensors is useful in wide environments (e.g., under the sea), or when the function describing the diffusion process is slowly changing in space, so that a single sensor may have to travel long distances before having a good gradient estimation. Our approach is based on a twofold control law, which is able to bring and keep the set of sensors on a circular equispaced formation, and to steer the circular formation towards the source via a gradient-ascent technique. The effectiveness of the proposed algorithm is both theoretically proven and supported by simulation results.
Document type :
Journal articles
Liste complète des métadonnées

Cited literature [18 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-01354294
Contributor : Federica Garin <>
Submitted on : Thursday, August 18, 2016 - 12:43:34 PM
Last modification on : Thursday, December 20, 2018 - 1:25:50 AM
Document(s) archivé(s) le : Saturday, November 19, 2016 - 8:47:23 PM

File

FabbianoGarinCanudas-SourceSee...
Files produced by the author(s)

Identifiers

Collections

Citation

Ruggero Fabbiano, Federica Garin, Carlos Canudas de Wit. Distributed Source Seeking without Global Position Information. IEEE Transactions on Control of Network Systems, IEEE, 2018, 5 (1), pp.228-238. ⟨10.1109/TCNS.2016.2594493⟩. ⟨hal-01354294⟩

Share

Metrics

Record views

482

Files downloads

184