High-Perception-Area Collaborative Exploration of Double-Integrator Robots in Parabolic-Type Diffusion Fields with Partially Unknown Information

This article solves a high-perception-area collaborative exploration issue for double-integrator robots in 2-dimensional parabolic-type diffusion scalar fields with partially unknown information. In the absence of surrounding field density information for robots, a distributed field density observer with adaptive update laws and event-triggering mechanisms is built to approximate necessary field density information. Taking into account of the scenario that robot's actual velocity is unmeasurable, we design a prescribed-time velocity estimator to compensate unavailable velocity information along a settling time. Coupled by the field density observer and prescribed-time velocity estimator, a velocity-free guidance law with event-triggering mechanisms is developed for robots to complete the high-perception-area collaborative exploration task under locally available field density information. For the proposed theory, we perform simulation tests to validate the feasibility of the provided scheme.