Abstract
Abstract In this paper and its companion paper (Ahmadi Barogh and Werner, 2017), the problem of source seeking with a group of agents in a distance-based formation is considered. Agents are equipped with a suitable sensor set to measure the distances to other agent and the strength of a field signal. The main objective of source seeking is to locate the maximum value of a scalar field in space. Each agent cooperatively estimates the gradient of the scalar field with respect to its local coordinate system and moves in the gradient direction, by maintaining the predefined formation. In this paper, a distributed controller for navigation of non-holonomic agents based on a dynamic model is proposed. The formation strategy used in this paper is a distance-based method to maintain a predefined formation during movement with collision avoidance. In a distance-based formation, global position information for agents is not required. Conditions are proposed for the asymptotic stability of the whole system and for the formation center to converge to the source. Simulation results are presented to show the effectiveness of the proposed control laws.
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