Consensus-Based Odor Source Localization by Multiagent Systems Under Resource Constraints

摘要

With advancements in mobile robot olfaction, networked multiagent systems (MASs) are used in odor source localization (OSL). These MASs are often equipped with small microprocessors that have limited computing capabilities, and they usually operate in a bandwidth and energy-constrained environment. The exigent need for a faster localizing algorithm under communication and computational resource constraints invites many design challenges. In this paper, we have designed a two-level hierarchical cooperative control strategy for heterogeneous nonlinear MASs for OSL. The agents are forced toward consensus expeditiously once the information on the whereabouts of the source is attained. The synthesis of the controller occurs in a hierarchical manner-obtaining a group decision, followed by resource-efficient robust control. Odor concentration and wind information have been used in a group decision-making layer to predict a probable location of the source as a tracking reference. This reference is then fed to the control layer that is synthesized using event-triggered sliding-mode control (SMC). The advantage of using event-triggered control scheduling in conjunction with the SMC is rooted in retaining the robustness of the SMC while lowering the resource utilization burden. Numerical simulations confirm the efficiency of the scheme put forth.