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We consider the problem of seeking the source of a scalar signal using an autonomous vehicle modeled as the nonholonomic unicycle. The vehicle does not have the capability of sensing its position or the position of the source but is capable of sensing the scalar signal originating from the source. The signal field is assumed to decay away from the position of the source but the vehicle does not have the knowledge of the functional form of the field. We employ extremum seeking to steer thedoi:10.1109/tac.2009.2014927 fatcat:pphxldx2jbfhxnz2ayxm2mxpey