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بیست و نهمین کنفرانس مهندسی برق ایران
Multi-Agent Deployment Around a Source in the Plane Using Biased Extremum Seeking
نویسندگان :
Mohammadali Ghadiri-modarres
1
Mohsen Mojiri
2
Ehsan Fattahi
3
1- دانشگاه صنعتی اراک
2- دانشگاه صنعتی اصفهان
3- دانشگاه صنعتی اصفهان
کلمات کلیدی :
Extremum Seeking, source seeking, biased ES, averaging theory.
چکیده :
We introduce a concept in extremum seeking, namely biased extremum seeking, which adaptively finds a set point corresponding to a prescribed bias of the value that optimizes an unknown static map. To this end, a loop consists of a product of the estimate of the Hessian of the map and the desired bias is added to the gradient based extremum seeking. Both constant bias and slowly time-varying bias are considered. As an application, the proposed scheme is used to make a group of fully actuated agents finding the source of a measurable signal in the plane while simultaneously achieving a formation deployment around it.
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بیشتر
ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 43.6.0
