Cooperatively learning mobile agents for gradient climbing

Jongeun Choi, Songhwai Oh, Roberto Horowitz

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationProceedings of the 46th IEEE Conference on Decision and Control 2007, CDC
Pages3139-3144
Number of pages6
DOIs
Publication statusPublished - 2007 Dec 1
Event46th IEEE Conference on Decision and Control 2007, CDC - New Orleans, LA, United States
Duration: 2007 Dec 122007 Dec 14

Other

Other46th IEEE Conference on Decision and Control 2007, CDC
CountryUnited States
CityNew Orleans, LA
Period07/12/1207/12/14

Fingerprint

Mobile agents
Mobile Agent
Gradient
Sensing
Learning Control
Self-organizing
Swarm
Convergence Properties
Update
Simulation Study
Unknown
Motion
Learning
Estimate

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] https://doi.org/10.1109/CDC.2007.4434061
Choi, Jongeun ; Oh, Songhwai ; Horowitz, Roberto. / Cooperatively learning mobile agents for gradient climbing. Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC. 2007. pp. 3139-3144
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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, 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

Cooperatively learning mobile agents for gradient climbing. / Choi, Jongeun; Oh, Songhwai; Horowitz, Roberto.

Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC. 2007. p. 3139-3144 4434061.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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