Source-Seeking Problem with Robot Swarms

TL;DR

This paper introduces a robust source-seeking algorithm for robot swarms that works with arbitrary formations and complex robot dynamics, validated through simulations.

Contribution

It presents a novel source localization algorithm that is formation-agnostic and effective with complex robot dynamics, enhancing swarm resilience.

Findings

Algorithm successfully locates source with arbitrary swarm formations.

Effective with complex robot dynamics like unicycle models.

Validated through extensive numerical simulations.

Abstract

We present an algorithm to solve the problem of locating the source, or maxima, of a scalar field using a robot swarm. We demonstrate how the robot swarm determines its direction of movement to approach the source using only field intensity measurements taken by each robot. In contrast with the current literature, our algorithm accommodates a generic (non-degenerate) geometry for the swarm's formation. Additionally, we rigorously show the effectiveness of the algorithm even when the dynamics of the robots are complex, such as a unicycle with constant speed. Not requiring a strict geometry for the swarm significantly enhances its resilience. For example, this allows the swarm to change its size and formation in the presence of obstacles or other real-world factors, including the loss or addition of individuals to the swarm on the fly. For clarity, the article begins by presenting the algorithm for robots with free dynamics. In the second part, we demonstrate the algorithm's effectiveness even considering non-holonomic dynamics for the robots, using the vector field guidance paradigm. Finally, we verify and validate our algorithm with various numerical simulations.