Switching Formation and Topology in Cooperative Multi-Agent Source Seeking Using Gradient Estimation

Sahal, Mochammad; Agustinah, Trihastuti; Jazidie, Achmad

doi:10.1109/icaiit.2019.8834525

Cited by 7 publications

(6 citation statements)

References 12 publications

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“…In research [21], using the framework graph theory results, Popov and Werner turn the problem of formation stability into an important regulatory problem for a single agent. This way, the management of performance requirements becomes more accessible, and stability for fixed and varied topologies with communication delays is guaranteed [22].…”

Section: Related Resultsmentioning

confidence: 99%

“…In our previous work [26], a gradient consensus approach is considered to address the moving source problem without obstacles. In this paper, the formulation is extended to include both stationary and moving obstacles for the moving source seeking problem.…”

Section: Related Resultsmentioning

confidence: 99%

“…In this paper, the formulation is extended to include both stationary and moving obstacles for the moving source seeking problem. Furthermore, the formulation of [26] is extended by considering a more complex systems which is a double integrator system instead of a single integrator system. The work [26] becomes the important basis of this work which consider a more complex system with obstacles.…”

Section: Related Resultsmentioning

confidence: 99%

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Strategic Control in Cooperative Multi-Agent Moving Source Seeking with Obstacles Avoidance

2023

IJIES

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Agent-based moving source-seeking problem with strategic control considering obstacle avoidance is addressed in this paper. The agents communicate with one another using a communication topology to coordinate finding the object. The source or seeking target is represented by a scalar field, whereas the presence of the obstacle is represented by an artificial potential field. A moving source that moves linearly from the initial point to the end point is considered. Several obstacles, which needs to be avoided by agents, that may be stationary or moving are considered. Double integrator agents are considered, which contains richer dynamics compared to the single integrator agents. The strategic control law which is a combination of gradient consensus and distributed velocity control affected by artificial potential field are used to determine the velocity of each agent to track the moving source while avoiding the obstacles. Formation control is used to make sure that the agents stay under the desired formation for most of the time. The computer simulation is used to examine how different agents would search for a moving source under stationary and moving obstacles. In both cases, the agents can find the source with a different seeking time: 62.8s for stationary and 90s for moving obstacles. Comparing with virtual artificial potential field method, our proposed method manages to perform better in the case of shrinking agents for stationary obstacles.

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Section: Related Resultsmentioning

confidence: 99%

Section: Related Resultsmentioning

confidence: 99%

Section: Related Resultsmentioning

confidence: 99%

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Strategic Control in Cooperative Multi-Agent Moving Source Seeking with Obstacles Avoidance

2023

IJIES

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“…Equations ( 1) and (2) may be represented in the velocity center point of the robot ( a a y x   , and   ) shown in Equation (3).…”

Section: A Kinematic Modelmentioning

confidence: 99%

“…An application of DDMR is in robot formation, where multiple robots move together in a formation. This usage type has already been used in areas such as shipping goods [1], search-and-rescue operations [2], and monitoring hazardous areas [3].…”

Section: Introductionmentioning

confidence: 99%

Formation Control of Multi-Robot using Virtual Structures with a Linear Algebra Approach

Riah

2020

JAREE

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The separation bearing controller (SBC) and separation-separation controller (SSC) approaches can be used to maintain multi-robot formation, while the Computed Torque Control (CTC) method is used to solve the dynamic problems of the robot. However, the SBC and SSC approaches combined with CTC cannot maintain multi-robot formation, if the leader or follower is disturbed. In this paper, the virtual structure method and the linear algebra approach added to the CTC method are used to maintain the triangular robot formation to follow the given trajectory. The simulation results show that the proposed control system design of multi-robots capable of following the trajectory and can maintain multi-robot formation with/without disturbance and noise.

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Stochastic time-varying extremum seeking and its applications

2023

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Switching Formation and Topology in Cooperative Multi-Agent Source Seeking Using Gradient Estimation

Cited by 7 publications

References 12 publications

Strategic Control in Cooperative Multi-Agent Moving Source Seeking with Obstacles Avoidance

Strategic Control in Cooperative Multi-Agent Moving Source Seeking with Obstacles Avoidance

Formation Control of Multi-Robot using Virtual Structures with a Linear Algebra Approach

Stochastic time-varying extremum seeking and its applications

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