This paper presents two distributed stochastic source seeking controllers to navigate multiple vehicles to seek the signal source, using the measurements of the signal field at their own positions and information of their neighbors. The first controller utilizes neighbors’ measurements of the signal field and the second controller utilizes relative positions between neighbors. The effectiveness of the proposed two controllers is proved by the stochastic averaging theory. The convergence speed of the source seeking system can be calculated for the first controller and it is proved that the convergence speed under the second controller is not slower than that under the first controller. In particular, the distributed controllers are effective for both connected and unconnected graph. Numerical simulations are given to illustrate the effectiveness of the controllers.

中文翻译：

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固定拓扑下多车辆的分布式随机源寻找

本文提出了两个分布式随机源搜索控制器，它们使用在其自身位置处的信号场的测量值及其邻居的信息来导航多个车辆以寻找信号源。第一控制器利用邻居对信号场的测量，第二控制器利用邻居之间的相对位置。随机平均理论证明了所提出的两种控制器的有效性。可以为第一控制器计算出寻源系统的收敛速度，并证明第二控制器下的收敛速度并不慢于第一控制器下的收敛速度。尤其是，分布式控制器对于已连接和未连接的图形均有效。