Vehicle networks for gradient descent in a sampled environment

Ralf Bachmayer, Naomi Ehrich Leonard

Research output: Contribution to journalConference articlepeer-review

188 Scopus citations


Fish in a school efficiently find the densest source of food by individually responding not only to local environmental stimuli but also to the behavior of nearest neighbors. It is of great, interest loanable a network of autonomous vehicles to function similarly as an intelligent sensor array capable of climbing or descending gradients of some spatially distributed signal. We formulate and study a coordinated control strategy for a group of autonomous vehicles to descend or climb an environmental gradient using measurements of the environment together with relative position measurements of nearest neighbors. Each vehicle is driven by an estimate of the local environmental gradient together with control forces, derived from artificial potentials, that maintain uniformity in group geometry.

Original languageEnglish (US)
Pages (from-to)112-117
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - 2002
Event41st IEEE Conference on Decision and Control - Las Vegas, NV, United States
Duration: Dec 10 2002Dec 13 2002

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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