Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Robot Odor Localization: A Taxonomy and Survey
International Journal of Robotics Research
Optimotaxis: A Stochastic Multi-agent Optimization Procedure with Point Measurements
HSCC '08 Proceedings of the 11th international workshop on Hybrid Systems: Computation and Control
3-D Source seeking for underactuated vehicles without position measurement
IEEE Transactions on Robotics
Brief paper: Stochastic source seeking for nonholonomic unicycle
Automatica (Journal of IFAC)
Brief paper: Navigation of a unicycle-like mobile robot for environmental extremum seeking
Automatica (Journal of IFAC)
Stability analysis of social foraging swarms
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
| Hi-index | 5.23 |
A source-seeking process for a pair of simple, low capability robots using only point measurements is proposed and analyzed. The robots are assumed to be memoryless, to lack the capability of performing complex computations and to have no direct communication abilities. Their only implicit form of communication is by sensing their relative position and the only response of a robot to the point measurement it makes is by moving to adjust its distance to the other robot according to a predetermined rule. The proposed algorithm is robust: we prove that the algorithm performs correctly even when the robots frequently err due to noisy sensor readings.