Simultaneous Source Localization and Formation via a Distributed Sign Gradient-Free Algorithm

被引：1
作者：
Du, Yong [1 ]
Chen, Fei [2 ]
Xiang, Linying [3 ]
Guo, Ge [4 ]
Chen, Guanrong [5 ]
机构：
[1] Northeastern Univ, Coll Informat Sci & Engn, Shenyang 110819, Peoples R China
[2] Nankai Univ, Coll Artificial Intelligence, Tianjin 300350, Peoples R China
[3] Tiangong Univ, Sch Artificial Intelligence, Tianjin 300387, Peoples R China
[4] Northeastern Univ, Qinhuangdao Campus, Qinhuangdao 066004, Peoples R China
[5] City Univ Hong Kong, Dept Elect Engn, Hong Kong, Peoples R China
来源：
IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS | 2024年 / 11卷 / 01期
基金：
中国国家自然科学基金;
关键词：
Distributed source localization; formation control; gradient-free algorithm; multiagent system; signum function; SOURCE SEEKING; SENSOR NETWORKS; ROBOTS;
D O I：
10.1109/TCNS.2023.3281369
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This article develops a distributed sign gradient-free algorithm for simultaneous source localization and formation of a multirobot system. A distinguished feature of the algorithm is that it takes into account robots' measure noise as well as ternary communication, which significantly reduces the communication cost of the overall network. Considering the presence of noise, the algorithm is designed to be gradient-free. In addition, an inherent connection is established between the selection of control parameters and the convergence property of the sign gradient-free algorithm, as well as signal strength, noisy intensity, formation radius, and the number of informed robots.
引用
收藏
页码：319 / 327
页数：9
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