In this paper, we design and analyze a class of multiagent systems that locate peaks of uncertain static fields in a distributed and scalable manner. The scalar field of interest is assumed to be generated by a radial basis function network. Our distributed coordination algorithms for multiagent systems build on techniques from adaptive control. Each agent is driven by swarming and gradient ascent efforts based on its own recursively estimated field via locally collected measurements by itself and its neighboring agents. The convergence properties of the proposed multiagent systems are analyzed. We also propose a sampling scheme to facilitate the convergence. We provide simulation results by applying our proposed algorithms to nonholonomic differentially driven mobile robots. The extensive simulation results match well with the predicted behaviors from the convergence analysis and illustrate the usefulness of the proposed coordination and sampling algorithms.
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e-mail: jadaliha@msu.edu
e-mail: leejoon8@egr.msu.edu
e-mail: jchoi@egr.msu.edu
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September 2012
Research Papers
Adaptive Control of Multiagent Systems for Finding Peaks of Uncertain Static Fields
Mahdi Jadaliha,
Mahdi Jadaliha
Department of Mechanical Engineering,
e-mail: jadaliha@msu.edu
Michigan State University
, East Lansing, MI 48824-1226
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Joonho Lee,
Joonho Lee
Department of Mechanical Engineering,
e-mail: leejoon8@egr.msu.edu
Michigan State University
, East Lansing, MI 48824-1226
Search for other works by this author on:
Jongeun Choi
Jongeun Choi
Department of Mechanical Engineering,Department of Electrical and Computer Engineering,
e-mail: jchoi@egr.msu.edu
Michigan State University
, East Lansing, MI 48824-1226
Search for other works by this author on:
Mahdi Jadaliha
Department of Mechanical Engineering,
Michigan State University
, East Lansing, MI 48824-1226e-mail: jadaliha@msu.edu
Joonho Lee
Department of Mechanical Engineering,
Michigan State University
, East Lansing, MI 48824-1226e-mail: leejoon8@egr.msu.edu
Jongeun Choi
Department of Mechanical Engineering,Department of Electrical and Computer Engineering,
Michigan State University
, East Lansing, MI 48824-1226e-mail: jchoi@egr.msu.edu
J. Dyn. Sys., Meas., Control. Sep 2012, 134(5): 051007 (8 pages)
Published Online: July 12, 2012
Article history
Received:
March 11, 2010
Revised:
February 21, 2012
Online:
July 12, 2012
Published:
July 12, 2012
Citation
Jadaliha, M., Lee, J., and Choi, J. (July 12, 2012). "Adaptive Control of Multiagent Systems for Finding Peaks of Uncertain Static Fields." ASME. J. Dyn. Sys., Meas., Control. September 2012; 134(5): 051007. https://doi.org/10.1115/1.4006369
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