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

@article{Biyik2007GradientCI,
  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},
  year={2007},
  pages={3133-3138}
}
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
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