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

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7 Citations (Scopus)

Abstract

Agent-based source seeking problem with switching formation and topology is addressed in this paper. This problem is relevant in, e.g., in hazardous gas leak in a chemical disaster, forest fires, nuclear disaster, etc. In the cooperative seek, agents develop a formation to effectively seek the source by communicating one to another via a communication topology. The source, or the seek target, is represented by a scalar field which describe, e.g., a temperature level, hazardous concentration of substances or vapor. Every agent has the information on its own position and the value of scalar field at any instance. The agents are identical modeled as single integrator. Consensus filter is used to synchronize the gradient value of each agent. Formation control is used to shape formation. In this paper three scenarios of switching formation are compared. These scenarios consist of 2, 3, and 4 formations respectively. The comparison is performed by computer simulation. In all scenarios, the formation of the agents can reach the sought source. The simulations show that the scenario with 2 formations is better than the scenario with 3 and 4 formations with respect to gradient connectivity of the cooperative multi-Agent.

Original languageEnglish
Title of host publicationProceeding - 2019 International Conference of Artificial Intelligence and Information Technology, ICAIIT 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages151-156
Number of pages6
ISBN (Electronic)9781538684481
DOIs
Publication statusPublished - Mar 2019
Event1st International Conference of Artificial Intelligence and Information Technology, ICAIIT 2019 - Yogyakarta, Indonesia
Duration: 13 Mar 201915 Mar 2019

Publication series

NameProceeding - 2019 International Conference of Artificial Intelligence and Information Technology, ICAIIT 2019

Conference

Conference1st International Conference of Artificial Intelligence and Information Technology, ICAIIT 2019
Country/TerritoryIndonesia
CityYogyakarta
Period13/03/1915/03/19

Keywords

  • Cooperative source seeking
  • Formation control
  • Gradient estimation
  • Switching formation and topology

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