TY - GEN
T1 - Switching Formation and Topology in Cooperative Multi-Agent Source Seeking Using Gradient Estimation
AU - Sahal, Mochammad
AU - Agustinah, Trihastuti
AU - Jazidie, Achmad
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/3
Y1 - 2019/3
N2 - 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.
AB - 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.
KW - Cooperative source seeking
KW - Formation control
KW - Gradient estimation
KW - Switching formation and topology
UR - http://www.scopus.com/inward/record.url?scp=85073145722&partnerID=8YFLogxK
U2 - 10.1109/ICAIIT.2019.8834525
DO - 10.1109/ICAIIT.2019.8834525
M3 - Conference contribution
AN - SCOPUS:85073145722
T3 - Proceeding - 2019 International Conference of Artificial Intelligence and Information Technology, ICAIIT 2019
SP - 151
EP - 156
BT - Proceeding - 2019 International Conference of Artificial Intelligence and Information Technology, ICAIIT 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 1st International Conference of Artificial Intelligence and Information Technology, ICAIIT 2019
Y2 - 13 March 2019 through 15 March 2019
ER -