TY - JOUR
T1 - Distributed Velocity Control in Cooperative Multi-Agent Moving Source Seeking
AU - Sahal, Mochammad
AU - Agustinah, Trihastuti
AU - Jazidie, Achmad
AU - Du, Haiping
N1 - Publisher Copyright:
© 2023 Wydawnictwo SIGMA-NOT. All rights reserved.
PY - 2023
Y1 - 2023
N2 - This paper uses distributed velocity control to address the agent-based moving source-seeking problem. The source is represented by a scalar field. In cooperative multi-agent seeking, agents communicate with one another using a communication topology to exchange and collect information regarding their positions and the value of the scalar field at any given time. This information is then compiled to create a single overall prediction that is used to locate the moving source that moves in a linear or sinusoidal manner. The velocity at which the agents track the moving source is determined using distributed velocity control that examines two agent velocity types: the gradient velocity and the desired velocity. Formation control is also used to maintain the desired formation of the agents. Finally, a computer simulation is conducted to examine how different agents search for a moving source. In both cases, the agents can find the source at a different seeking time. The results show that the agents under a given desired velocity may perform better than those under gradient velocity for the desired velocity vd > 1.85 m/s and vd > 1.9 m/s for linear and sinusoidal moving sources, respectively.
AB - This paper uses distributed velocity control to address the agent-based moving source-seeking problem. The source is represented by a scalar field. In cooperative multi-agent seeking, agents communicate with one another using a communication topology to exchange and collect information regarding their positions and the value of the scalar field at any given time. This information is then compiled to create a single overall prediction that is used to locate the moving source that moves in a linear or sinusoidal manner. The velocity at which the agents track the moving source is determined using distributed velocity control that examines two agent velocity types: the gradient velocity and the desired velocity. Formation control is also used to maintain the desired formation of the agents. Finally, a computer simulation is conducted to examine how different agents search for a moving source. In both cases, the agents can find the source at a different seeking time. The results show that the agents under a given desired velocity may perform better than those under gradient velocity for the desired velocity vd > 1.85 m/s and vd > 1.9 m/s for linear and sinusoidal moving sources, respectively.
KW - Cooperative multi-agent moving source seeking
KW - Distributed velocity control
KW - Gradient velocity
UR - http://www.scopus.com/inward/record.url?scp=85170408312&partnerID=8YFLogxK
U2 - 10.15199/48.2023.08.40
DO - 10.15199/48.2023.08.40
M3 - Article
AN - SCOPUS:85170408312
SN - 0033-2097
VL - 2023
SP - 224
EP - 230
JO - Przeglad Elektrotechniczny
JF - Przeglad Elektrotechniczny
IS - 8
ER -