Gradient Free Source-Seeking Using Flocking Behavior

In this paper we propose a novel scheme that allows a group of mobile agents equipped with sensing capabilities to locate the unknown maximum of a scalar field. The scheme avoids the restrictions associated with gradient estimation, imposing predetermined formations on the agents or global localization. Instead the flocking approach is combined with a technique inspired by glowworm swarm optimization. Under reasonable assumptions we prove stability and boundedness of trajectories. 3-D simulation as well as 2-D experimental results illustrate that the proposed method outperform an existing technique in terms of smoothness of the trajectories.