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Optimotaxis: A Stochastic Multi-agent on Site Optimization Procedure

Mesquita, Alexandre R.; Hespanha, João P. and Åström, Karl Johan LU (2008) In Hybrid Systems: Computation and Control p.358-371
Abstract
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.
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author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
Hybrid Systems: Computation and Control
editor
Egerstedt, Magnus and Mishra, Bud
pages
358 - 371
publisher
Springer
ISBN
978-3-540-78928-4
language
English
LU publication?
yes
id
72e11b98-d500-4e9f-ba51-859f71847011 (old id 3046649)
date added to LUP
2012-08-31 12:57:28
date last changed
2016-04-16 07:15:14
@inbook{72e11b98-d500-4e9f-ba51-859f71847011,
  abstract     = {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.},
  author       = {Mesquita, Alexandre R. and Hespanha, João P. and Åström, Karl Johan},
  editor       = {Egerstedt, Magnus and Mishra, Bud},
  isbn         = {978-3-540-78928-4},
  language     = {eng},
  pages        = {358--371},
  publisher    = {Springer},
  series       = {Hybrid Systems: Computation and Control},
  title        = {Optimotaxis: A Stochastic Multi-agent on Site Optimization Procedure},
  year         = {2008},
}