Simultaneous Source Localization and Formation via a Distributed Sign Gradient-Free Algorithm

This article develops a distributed sign gradient-free algorithm for simultaneous source localization and formation of a multirobot system. A distinguished feature of the algorithm is that it takes into account robots' measure noise as well as ternary communication, which significantly reduces the communication cost of the overall network. Considering the presence of noise, the algorithm is designed to be gradient-free. In addition, an inherent connection is established between the selection of control parameters and the convergence property of the sign gradient-free algorithm, as well as signal strength, noisy intensity, formation radius, and the number of informed robots.