Gradient climbing in formation via extremum seeking and passivity-based coordination rules

  title={Gradient climbing in formation via extremum seeking and passivity-based coordination rules},
  author={Emrah Biyik and Murat Arcak},
  journal={2007 46th IEEE Conference on Decision and Control},
We consider a gradient climbing problem where the objective is to steer a group of vehicles to the extrema of an unknown scalar field distribution while keeping a prescribed formation. We address this task by developing a scheme in which the leader performs extremum seeking for the minima or maxima of the field, and other vehicles follow according to passivity-based coordination rules. The extremum-seeking approach generates approximate gradients of the field locally by "dithering" sensor… CONTINUE READING
Highly Cited
This paper has 73 citations. REVIEW CITATIONS

From This Paper

Figures, tables, and topics from this paper.
49 Citations
26 References
Similar Papers


Publications citing this paper.
Showing 1-10 of 49 extracted citations

73 Citations

Citations per Year
Semantic Scholar estimates that this publication has 73 citations based on the available data.

See our FAQ for additional information.


Publications referenced by this paper.
Showing 1-10 of 26 references

Virtual leaders

  • N. E. Leonard, E. Fiorelli
  • artificial potentials and coordinated control of…
  • 2001
Highly Influential
10 Excerpts


  • J. Cortés
  • Martı́nez, T. Karataş, and F. Bullo. Coverage…
  • 2004
2 Excerpts

Similar Papers

Loading similar papers…