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Electromagnetic signal source seeking of multiple robots using an event-triggered communication scheme

Electromagnetic signal source seeking of multiple robots using an event-triggered communication scheme

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This Letter deals with the problem of seeking an electromagnetic signal source using a group of autonomous robots by designing an event-triggered communication scheme. First, the finite difference method based on radial basis functions is used to estimate the gradient of the scalar field generated by the signal source. Second, a consensus controller is proposed to control multiple robots to seek the signal source along the gradient ascend direction. At the same time, an event-triggered communication scheme is designed such that the burden of communication can be lightened. Finally, simulation and experimental results show the effectiveness of the proposed event-triggered communication scheme for the problem of seeking an electromagnetic signal source.

References

    1. 1)
      • 1. Bachmayer, R., Leonard, N.E.: ‘Vehicle networks for gradient descent in a sampled environment’. Proc. 41st IEEE Conf. on Decision and Control, Las Vegas, Nevada, USA, 2002, pp. 112117.
    2. 2)
http://iet.metastore.ingenta.com/content/journals/10.1049/el.2018.5238
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