Exponentially Assisted Source Localization by Velocity-Dependent/Velocity-Free Guidance Strategies in Incompletely Transparent Scalar Fields

Considering the incompletely transparent scalar field, this paper studies an exponentially assisted source localization (EASL) problem for double-integrator agents. Combined with position and concentration measurements, we build an adaptive parameter observer for unknown parameters in the scalar field relying on filtered regressors, which serves gradient estimation as a driven item for finding source. Coupled by the designed parameter observer, velocity-dependent/velocity-free guidance strategies with event-triggered schemes are developed by constructing auxiliary variables and utilizing distributed consensus theory. As extensions on the above control protocols, the corresponding schemes are provided through relaxing the prior knowledge about an upper bound or achieving finite-time convergence about some auxiliary variables. With the aid of simulation results, the feasibility of the offered policy is confirmed reasonably.