A Switching strategy for robust cooperative exploration

Wencen Wu, Fumin Zhang
2010 49th IEEE Conference on Decision and Control (CDC)  
This paper develops a switching strategy for networked mobile sensing agents to automatically decide when to perform individual exploration and when to perform cooperative exploration of an unknown scalar field corrupted by time-varying non-Gaussian noises. The switching condition from individual exploration to cooperative exploration is based on Razumikhin theorem, and the change of the signal-to-noise ratio (SNR) serves as the switching condition from cooperative exploration to individual
more » ... n to individual exploration. A cooperative H ∞ filter is proposed when the agents are collaborating. Sufficient conditions are derived for the cooperative H ∞ filter to converge. This switching strategy balances the mobility of the agents and the exploring accuracy. Simulation results demonstrate that with the switching strategy, a group of sensing agents can succeed in finding a local minimum of an unknown scalar field efficiently.
doi:10.1109/cdc.2010.5718104 dblp:conf/cdc/WuZ10 fatcat:xtpm3aictjfu5pw6vtu6h74p4y