Signal Source Localization of Multiple Robots Using an Event-Triggered Communication Scheme
Source abstract
Abstract
This paper deals with the problem of signal source localization using a group of autonomous robots by designing and analyzing a decision-control approach with an event-triggered communication scheme. The proposed decision-control approach includes two levels: a decision level and a control level. In the decision level, a particle filter is used to estimate the possible positions of the signal source. The estimated position of the signal source gradually approaches the real position of signal source with the movement of robots. In the control level, a consensus controller is proposed to control multiple robots to seek a signal source based on the estimated signal source position. At the same time, an event-triggered communication scheme is designed such that the burden of communication can be lightened. Finally, simulation and experimental results show the effectiveness of the proposed decision-control approach with the event-triggered communication scheme for the problem of signal source localization.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Distributed Control Multi-Agent Systems · Distributed Sensor Networks and Detection Algorithms · Target Tracking and Data Fusion in Sensor Networks
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
School of Automation, Hangzhou Dianzi University, Hangzhou 310018, China
College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China
Funding
Zhejiang Provincial Natural Science Foundation of China · National Natural Science Foundation of China
References (37)
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