Multiple Extrema Seeking by Swarm Robots Based on Distributed Optimization

• Sakurama Kazunori

  Graduate School of Engineering, Tottori University

• Yasuki Hirosuke

  Graduate School of Engineering, Tottori University

• Nishida Sin-ichiro

  Graduate School of Engineering, Tottori University

Bibliographic Information

Other Title

• 分散最適化に基づくロボット群による複数極値探索
• ブンサン サイテキ カ ニ モトズク ロボットグン ニ ヨル フクスウキョクチ タンサク

Abstract

This paper deals with a seeking problem for multiple extrema by swarm robots. Extreme seeking is a task to find an extremum on a field with gradients like temperature profiles. By using swarm robots, it is expected to find multiple extrema at once. In this paper, we design a controller to spread the robots on the multiple extrema, rather than to gather them on one extremum. Our proposed method controls the variance of the robots in order to appropriately spread them out. Especially, this controller is distributed, so each robot uses only its local information.

Journal

• Transactions of the Institute of Systems, Control and Information Engineers

  Transactions of the Institute of Systems, Control and Information Engineers 29 (4), 155-161, 2016

  THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)

Keywords

• swarm robots
• distributed optimization
• source seeking

Details

• CRID: 1390282680145333504
• NII Article ID: 130005165106
• NII Book ID: AN1013280X
• DOI: 10.5687/iscie.29.155
• ISSN: 2185811X
• ISSN: 13425668
• NDL BIB ID: 027243107
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I027243107
• Web Site: https://www.jstage.jst.go.jp/article/iscie/29/4/29_155/_pdf
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed