Cooperatively learning mobile agents for gradient climbing

Jongeun Choi; Songhwai Oh; Roberto Horowitz

doi:10.1109/CDC.2007.4434061

Cooperatively learning mobile agents for gradient climbing

Jongeun Choi, Songhwai Oh, Roberto Horowitz

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

15 Citations (Scopus)

Abstract

This paper presents a novel class of self-organizing autonomous sensing agents that form a swarm and learn the static field of interest through noisy measurements from neighbors for gradient climbing. In particular, each sensing agent maintains its own smooth map which estimates the field. It updates its map using measurements from itself and its neighbors and simultaneously moves toward a maximum of the field using the gradient of its map. The proposed cooperatively learning control consists of motion coordination based on the recursive spatial estimation of an unknown field of interest with measurement noise. The convergence properties of the proposed coordination algorithm are analyzed using the ODE approach and verified by a simulation study.

Original language	English
Title of host publication	Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC
Pages	3139-3144
Number of pages	6
DOIs	https://doi.org/10.1109/CDC.2007.4434061
Publication status	Published - 2007 Dec 1
Event	46th IEEE Conference on Decision and Control 2007, CDC - New Orleans, LA, United States Duration: 2007 Dec 12 → 2007 Dec 14

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0191-2216

Other

Other	46th IEEE Conference on Decision and Control 2007, CDC
Country	United States
City	New Orleans, LA
Period	07/12/12 → 07/12/14

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All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Modelling and Simulation
Control and Optimization

Cite this

Choi, J., Oh, S., & Horowitz, R. (2007). Cooperatively learning mobile agents for gradient climbing. In Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC (pp. 3139-3144). [4434061] (Proceedings of the IEEE Conference on Decision and Control). https://doi.org/10.1109/CDC.2007.4434061

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Choi, J, Oh, S & Horowitz, R 2007, Cooperatively learning mobile agents for gradient climbing. in Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC., 4434061, Proceedings of the IEEE Conference on Decision and Control, pp. 3139-3144, 46th IEEE Conference on Decision and Control 2007, CDC, New Orleans, LA, United States, 07/12/12. https://doi.org/10.1109/CDC.2007.4434061

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Access to Document

10.1109/CDC.2007.4434061