Experimental Validation of Source Seeking with a Switching StrategyReportar como inadecuado


Experimental Validation of Source Seeking with a Switching Strategy


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We design a switching strategy for a group ofrobots to search for a local minimum of an unknown noisyscalar field.
Starting with individual exploration, the robotsswitch to cooperative exploration only when they are not ableto locate the field minimum based on the information collectedindividually.
In order to test and demonstrate the switchingstrategy in real-world environment, we implement the switchingstrategy on a multi-robot test-bed.
The behaviors of a group ofrobots are compared when different parameters for explorationare adopted.
Especially, we observe the effect of memory lengthson the switching behaviors as predicted by theoretical results.The experimental results also justify the effects of differentformation sizes and noise attenuation levels on the performanceof the cooperative H∞ filter that are utilized in the cooperativeexploration phase.



Underwater Robotics - Underwater Robotics Publications -



Autor: Wu, Wencen - Zhang, Fumin - -

Fuente: https://smartech.gatech.edu/





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