Now showing items 1-5 of 5
A Switching Strategy for Robust Cooperative Exploration
(Georgia Institute of Technology, 2010-12)
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 ...
Experimental Validation of Source Seeking with a Switching Strategy
(Georgia Institute of Technology, 2011)
We 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 ...
Curvature Based Cooperative Exploration of Three Dimensional Scalar Fields
(Georgia Institute of Technology, 2010)
We develop strategies for controlled motion and filtering performed by a mobile sensor network to cooperatively explore an unknown 3D scalar field. In order to estimate the principal directions and principal curvatures ...
A Bio-inspired Plume Tracking Algorithm for Mobile Sensing Swarms in Turbulent Flow
(Georgia Institute of Technology, 2013-05)
We develop a plume tracking algorithm for a swarm of mobile sensing agents in turbulent flow. Inspired by blue crabs, we propose a stochastic model for plume spikes based on the Poisson counting process, which captures the ...
Bio-inspired Source Seeking with no Explicit Gradient Estimation
(Georgia Institute of Technology, 2012-09)
Inspired by behaviors of fish groups seeking darker (shaded) regions in environments with complex lighting variations, we develop distributed source-seeking algorithms for a group of sensing agents with no explicit gradient ...