Path planning algorithms for source seeking agents

In this paper, we address the problem of source-seeking for sources that transmit signals which decay according to a specific path loss model. This is typical for sources emitting electromagnetic signals. Based on this decay profile, we analyze the scenario where the seeker has partial knowledge about the equation that governs the decay profile. We present an approximate gradient descent based iterative algorithm for this case. We prove that the seeker converges to the source after traveling a finite distance. We also present a quantitative measure of the performance of our algorithm in terms of the number of measurements required by the seeker. Next, we extend the aforementioned algorithm to provide cooperative path planning algorithms for a team of seekers. Finally, we provide simulation results that show the effectiveness of the algorithms.