@inproceedings{5c20b72e2ccf4b1f8e91b7c937614712,
title = "Discrete time extremum seeking by autonomous vehicles in a stochastic environment",
abstract = "In this paper, discrete time extremum seeking algorithms with sinusoidal perturbations have been developed for three different problems involving autonomous vehicle planar control: a) control of velocity actuated vehicles; b) control of force actuated vehicles; c) control of nonholonomic vehicles (unicycles). The algorithms assume time varying gains and are able to cope with stochastic perturbations. Convergence to the extremal point, with probability one, has been demonstrated for all three cases. It is also shown how the proposed algorithms can be applied to mobile sensors as a tool for achieving optimal observation positions. The proposed algorithms have been illustrated with several simulations.",
author = "Stankovi{\'c}, \{Milo{\c s} S.\} and Stipanovi{\'c}, \{Du{\c s}an M.\}",
year = "2009",
doi = "10.1109/CDC.2009.5400504",
language = "English (US)",
isbn = "9781424438716",
series = "Proceedings of the IEEE Conference on Decision and Control",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "4541--4546",
booktitle = "Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009",
address = "United States",
note = "48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 ; Conference date: 15-12-2009 Through 18-12-2009",
}