Bio-inspired Source Seeking with no Explicit Gradient Estimation

Lade...
Vorschaubild
Dateien
Wu_0-387603.pdf
Wu_0-387603.pdfGröße: 201.24 KBDownloads: 211
Datum
2012
Autor:innen
Wu, Wencen
Zhang, Fumin
Herausgeber:innen
Kontakt
ISSN der Zeitschrift
Electronic ISSN
ISBN
Bibliografische Daten
Verlag
Schriftenreihe
Auflagebezeichnung
ArXiv-ID
Internationale Patentnummer
Angaben zur Forschungsförderung
Projekt
Open Access-Veröffentlichung
Open Access Green
Sammlungen
Core Facility der Universität Konstanz
Gesperrt bis
Titel in einer weiteren Sprache
Forschungsvorhaben
Organisationseinheiten
Zeitschriftenheft
Publikationstyp
Beitrag zu einem Konferenzband
Publikationsstatus
Published
Erschienen in
Proceedings of the 3rd IFAC Workshop on Distributed Estimation and Control in Networked Systems. Laxenburg, Austria: IFAC, 2012, pp. 240-245. IFAC Proceedings Volumes. 45,26. ISSN 1474-6670. ISBN 978-3-902823-22-9. Available under: doi: 10.3182/20120914-2-US-4030.00024
Zusammenfassung

Inspired by behaviors of fish groups seeking darker (shaded) regions in environments with complex lighting variations, we develop distributed source-seeking algorithms for a group of sensing agents with no explicit gradient estimation. We choose a baseline for agent groups and decompose the velocity of each agent into two parts. The first part, which is perpendicular to the baseline, is chosen to be proportional to the measurements, agreeing with observations from fish groups. The second part, which is parallel to the baseline, can be designed to control the relative distances among the agents. This decomposition is leveraged to implement formation-maintaining strategies and source seeking behaviors for the entire group. We prove that the moving direction of a group will converge towards the gradient direction while the formation is maintained.

Zusammenfassung in einer weiteren Sprache
Fachgebiet (DDC)
570 Biowissenschaften, Biologie
Schlagwörter
Konferenz
IFAC NecSys'12 : 3rd IFAC Workshop on Distributed Estimation and Control in Networked Systems, 14. Sep. 2015 - 15. Sep. 2012, Santa Barbara, CA, USA
Rezension
undefined / . - undefined, undefined
Zitieren
ISO 690WU, Wencen, Iain D. COUZIN, Fumin ZHANG, 2012. Bio-inspired Source Seeking with no Explicit Gradient Estimation. IFAC NecSys'12 : 3rd IFAC Workshop on Distributed Estimation and Control in Networked Systems. Santa Barbara, CA, USA, 14. Sep. 2015 - 15. Sep. 2012. In: Proceedings of the 3rd IFAC Workshop on Distributed Estimation and Control in Networked Systems. Laxenburg, Austria: IFAC, 2012, pp. 240-245. IFAC Proceedings Volumes. 45,26. ISSN 1474-6670. ISBN 978-3-902823-22-9. Available under: doi: 10.3182/20120914-2-US-4030.00024
BibTex
@inproceedings{Wu2012Bioin-37054,
  year={2012},
  doi={10.3182/20120914-2-US-4030.00024},
  title={Bio-inspired Source Seeking with no Explicit Gradient Estimation},
  number={45,26},
  isbn={978-3-902823-22-9},
  issn={1474-6670},
  publisher={IFAC},
  address={Laxenburg, Austria},
  series={IFAC Proceedings Volumes},
  booktitle={Proceedings of the 3rd IFAC Workshop on Distributed Estimation and Control in Networked Systems},
  pages={240--245},
  author={Wu, Wencen and Couzin, Iain D. and Zhang, Fumin}
}
RDF
<rdf:RDF
    xmlns:dcterms="http://purl.org/dc/terms/"
    xmlns:dc="http://purl.org/dc/elements/1.1/"
    xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
    xmlns:bibo="http://purl.org/ontology/bibo/"
    xmlns:dspace="http://digital-repositories.org/ontologies/dspace/0.1.0#"
    xmlns:foaf="http://xmlns.com/foaf/0.1/"
    xmlns:void="http://rdfs.org/ns/void#"
    xmlns:xsd="http://www.w3.org/2001/XMLSchema#" > 
  <rdf:Description rdf:about="https://kops.uni-konstanz.de/server/rdf/resource/123456789/37054">
    <dspace:hasBitstream rdf:resource="https://kops.uni-konstanz.de/bitstream/123456789/37054/1/Wu_0-387603.pdf"/>
    <dc:contributor>Couzin, Iain D.</dc:contributor>
    <dc:rights>terms-of-use</dc:rights>
    <dcterms:available rdf:datatype="http://www.w3.org/2001/XMLSchema#dateTime">2017-02-02T09:23:43Z</dcterms:available>
    <dspace:isPartOfCollection rdf:resource="https://kops.uni-konstanz.de/server/rdf/resource/123456789/28"/>
    <bibo:uri rdf:resource="https://kops.uni-konstanz.de/handle/123456789/37054"/>
    <dcterms:hasPart rdf:resource="https://kops.uni-konstanz.de/bitstream/123456789/37054/1/Wu_0-387603.pdf"/>
    <foaf:homepage rdf:resource="http://localhost:8080/"/>
    <dc:contributor>Zhang, Fumin</dc:contributor>
    <dc:date rdf:datatype="http://www.w3.org/2001/XMLSchema#dateTime">2017-02-02T09:23:43Z</dc:date>
    <dc:creator>Zhang, Fumin</dc:creator>
    <dcterms:isPartOf rdf:resource="https://kops.uni-konstanz.de/server/rdf/resource/123456789/28"/>
    <dcterms:issued>2012</dcterms:issued>
    <dc:creator>Couzin, Iain D.</dc:creator>
    <dc:contributor>Wu, Wencen</dc:contributor>
    <dcterms:title>Bio-inspired Source Seeking with no Explicit Gradient Estimation</dcterms:title>
    <dcterms:abstract xml:lang="eng">Inspired by behaviors of fish groups seeking darker (shaded) regions in environments with complex lighting variations, we develop distributed source-seeking algorithms for a group of sensing agents with no explicit gradient estimation. We choose a baseline for agent groups and decompose the velocity of each agent into two parts. The first part, which is perpendicular to the baseline, is chosen to be proportional to the measurements, agreeing with observations from fish groups. The second part, which is parallel to the baseline, can be designed to control the relative distances among the agents. This decomposition is leveraged to implement formation-maintaining strategies and source seeking behaviors for the entire group. We prove that the moving direction of a group will converge towards the gradient direction while the formation is maintained.</dcterms:abstract>
    <void:sparqlEndpoint rdf:resource="http://localhost/fuseki/dspace/sparql"/>
    <dc:creator>Wu, Wencen</dc:creator>
    <dc:language>eng</dc:language>
    <dcterms:rights rdf:resource="https://rightsstatements.org/page/InC/1.0/"/>
  </rdf:Description>
</rdf:RDF>
Interner Vermerk
xmlui.Submission.submit.DescribeStep.inputForms.label.kops_note_fromSubmitter
Kontakt
URL der Originalveröffentl.
Prüfdatum der URL
Prüfungsdatum der Dissertation
Finanzierungsart
Kommentar zur Publikation
Allianzlizenz
Corresponding Authors der Uni Konstanz vorhanden
Internationale Co-Autor:innen
Universitätsbibliographie
Nein
Begutachtet
Diese Publikation teilen