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Planar Cooperative Extremum Seeking with Guaranteed Convergence Using A Three-Robot Formation

Skobeleva, Anna; Fidan, Baris; Ugrinovskii, Valery A.; Petersen, Ian


In this paper, a combined formation acquisition and cooperative extremum seeking control scheme is proposed for a team of three robots moving on a plane. The extremum seeking task is to find the maximizer of an unknown two-dimensional function on the plane. The function represents the signal strength field due to a source located at the maximizer, and is assumed to be locally concave around the maximizer and monotonically decreasing in distance to the source location. Taylor expansions of the...[Show more]

CollectionsANU Research Publications
Date published: 2018-12-17
Type: Conference paper
Source: Proceedings of the IEEE Conference on Decision and Control
DOI: 10.1109/CDC.2018.8619784


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