Hamiltonian surface shaping with information theory and exergy/entropy control for collective plume tracing
by Rush D. Robinett III, David G. Wilson
International Journal of Systems, Control and Communications (IJSCC), Vol. 2, No. 1/2/3, 2010

Abstract: The goal of this paper is to design and analyse distributed decentralised control laws for a team of robots performing collective plume tracing based on Hamiltonian surface shaping, information theory, and exergy/entropy control. The process begins with the design of a kinematic controller based on the application of static and dynamic stability concepts and exergy/entropy control. The process is completed with the design of a kinetic controller based on Hamiltonian surface shaping with physical and information exergies in the form of control potentials that determine the accessible phase space of the power flow controller. The resulting kinetic controller is evaluated using Fisher Information.

Online publication date: Sat, 23-Jan-2010

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