Distributed optimization in sensor networks
Proceedings of the 3rd international symposium on Information processing in sensor networks
Brief Stability of extremum seeking feedback for general nonlinear dynamic systems
Automatica (Journal of IFAC)
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This work deals with the source-seeking problem in which the task is to locate the source of some signal using a fleet of AUVs (autonomous underwater vehicles). The present paper proposes a distributed solution in which a group of vehicles uniformly distributed in a fixed circular formation, estimates the gradient direction of the signal propagation. The distributed algorithm takes into account the communication constraints and depends on direct signal measurements. Our approach is based on the previous results in formation control to stabilize the fleet in a circular formation with time-varying center and in a collaborative source-seeking algorithm. The results are supported through computer simulations.