A Distributed Active Perception Strategy for Source Seeking and Level Curve Tracking

Abstract

Algorithms for multi-agent systems to locate a source or to follow a desired level curve of spatially distributed scalar fields generally require sharing field measurements among the agents for gradient estimation. Yet, in this paper, we propose a distributed active perception strategy that enables swarms of various sizes and graph structures to perform source seeking and level curve tracking without the need to explicitly estimate the field gradient or explicitly share measurements. The proposed method utilizes a consensus-like Principal Component Analysis perception algorithm that does not require explicit communication in order to compute a local body frame. This body frame is used to design a distributed control law where each agent modulates its motion based only on its instantaneous field measurement. Several stability results are obtained within a singular perturbation framework which justifies the convergence and robustness of the strategy. Additionally, efficiency is validated through various computer simulations and robots implementation in 2-D scalar fields. The active perception strategy leverages the available local information and has the potential to be used in various applications such as modeling information propagation in biological and robotic swarms.