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Appl. Sci. 2018, 8(6), 977; https://doi.org/10.3390/app8060977

Signal Source Localization of Multiple Robots Using an Event-Triggered Communication Scheme

1
School of Automation, Hangzhou Dianzi University, Hangzhou 310018, China
2
College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China
*
Author to whom correspondence should be addressed.
Received: 16 May 2018 / Revised: 3 June 2018 / Accepted: 8 June 2018 / Published: 14 June 2018
(This article belongs to the Special Issue Swarm Robotics)
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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. View Full-Text
Keywords: signal source localization; multi-robot system; event-triggered communication; consensus control signal source localization; multi-robot system; event-triggered communication; consensus control
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Pan, L.; Lu, Q.; Yin, K.; Zhang, B. Signal Source Localization of Multiple Robots Using an Event-Triggered Communication Scheme. Appl. Sci. 2018, 8, 977.

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