Collaborative Estimation of Gradient Direction by a Formation of AUVs

Lara Briñon Arranz; Alexandre Seuret; Alain Sarlette; Carlos Canudas de Wit

5th International ICST Workshop on Tools for solving Structured Markov Chains

Research Article

Collaborative Estimation of Gradient Direction by a Formation of AUVs

Cite: BibTeX Plain Text

@INPROCEEDINGS{10.4108/icst.valuetools.2011.245810,
    author={Lara Bri\`{o}on Arranz and Alexandre Seuret and Alain Sarlette and Carlos Canudas de Wit},
    title={Collaborative Estimation of Gradient Direction by a Formation of AUVs},
    proceedings={5th International ICST Workshop on Tools for solving Structured Markov Chains},
    publisher={ACM},
    proceedings_a={SMCTOOLS},
    year={2012},
    month={6},
    keywords={Multi-agent systems collaborative control gradient estimation.},
    doi={10.4108/icst.valuetools.2011.245810}
}

Lara Briñon Arranz
Alexandre Seuret
Alain Sarlette
Carlos Canudas de Wit
Year: 2012
Collaborative Estimation of Gradient Direction by a Formation of AUVs
SMCTOOLS
ICST
DOI: 10.4108/icst.valuetools.2011.245810

Lara Briñon Arranz¹, Alexandre Seuret²^,*, Alain Sarlette³, Carlos Canudas de Wit²

1: INRIA
2: CNRS / GIPSA-Lab
3: Institute Montefiore, Université de Liège

*Contact email: alexandre.seuret@gipsa-lab.grenoble-inp.fr

Abstract

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.

Keywords: Multi-agent systems collaborative control gradient estimation.

Published: 2012-06-26
Publisher: ACM

: http://dx.doi.org/10.4108/icst.valuetools.2011.245810