A Switching Strategy for Robust Cooperative Exploration
Abstract
This paper develops a switching strategy for networked
mobile sensing agents to automatically decide when
to perform individual exploration and when to perform cooperative
exploration of an unknown scalar field corrupted
by time-varying non-Gaussian noises. The switching condition
from individual exploration to cooperative exploration is based
on Razumikhin theorem, and the change of the signal-to-noise
ratio (SNR) serves as the switching condition from cooperative
exploration to individual exploration. A cooperative H∞ filter is
proposed when the agents are collaborating. Sufficient conditions
are derived for the cooperative H∞ filter to converge. This
switching strategy balances the mobility of the agents and the
exploring accuracy. Simulation results demonstrate that with
the switching strategy, a group of sensing agents can succeed in
finding a local minimum of an unknown scalar field efficiently.