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dc.contributor.authorWu, Wencen
dc.contributor.authorZhang, Fumin
dc.date.accessioned2011-05-16T16:40:37Z
dc.date.available2011-05-16T16:40:37Z
dc.date.issued2011
dc.identifier.citationW. Wu and Fumin Zhang, “Experimental Validation of Source Seeking with a Switching Strategy,” in Proc. 2011 IEEE Conference on Robotics and Automation (ICRA 2011), 2011.en_US
dc.identifier.urihttp://hdl.handle.net/1853/38882
dc.description.abstractWe design a switching strategy for a group of robots to search for a local minimum of an unknown noisy scalar field. Starting with individual exploration, the robots switch to cooperative exploration only when they are not able to locate the field minimum based on the information collected individually. In order to test and demonstrate the switching strategy in real-world environment, we implement the switching strategy on a multi-robot test-bed. The behaviors of a group of robots are compared when different parameters for exploration are adopted. Especially, we observe the effect of memory lengths on the switching behaviors as predicted by theoretical results. The experimental results also justify the effects of different formation sizes and noise attenuation levels on the performance of the cooperative H∞ filter that are utilized in the cooperative exploration phase.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectSwitching strategyen_US
dc.subjectCooperative explorationen_US
dc.subjectSource seekingen_US
dc.titleExperimental Validation of Source Seeking with a Switching Strategyen_US
dc.typePre-printen_US
dc.typeProceedingsen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Electrical and Computer Engineering
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machines


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