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Optimotaxis: A Stochastic Multi-agent on Site Optimization Procedure

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Author

Editor

  • Magnus Egerstedt
  • Bud Mishra

Summary, in English

We consider the problem of seeking the maximum of a scalar signal using a swarm of autonomous vehicles equipped with sensors that can take point measurements of the signal. Vehicles are not able to measure their current position or to communicate with each other. Our approach induces the vehicles to perform a biased random walk inspired by bacterial chemotaxis and controlled by a stochastic hybrid automaton. With such a controller, it is shown that the positions of the vehicles evolve towards a probability density that is a specified function of the spatial profile of the measured signal, granting higher vehicle densities near the signal maxima.

Publishing year

2008

Language

English

Pages

358-371

Publication/Series

Hybrid Systems: Computation and Control

Document type

Book chapter

Publisher

Springer

Topic

  • Control Engineering

Status

Published

Research group

  • LCCC

ISBN/ISSN/Other

  • ISBN: 978-3-540-78928-4