Two-robot source seeking with point measurements

A source-seeking process for a pair of simple, low capability robots using only point measurements is proposed and analyzed. The robots are assumed to bememoryless, to lack the capability of performing complex computations and to have no direct communication abilities. Their only implicit formof communication is by sensing their relative position and the only response of a robot to the point measurement it makes is by moving to adjust its distance to the other robot according to a predetermined rule. The proposed algorithm is robust: we prove that the algorithm performs correctly even when the robots frequently err due to noisy sensor readings. © 2012 Elsevier B.V. All rights reserved.