# Source Seeking Control of Unicycle Robots with 3D-printed Flexible Piezoresistive Sensors

arXiv: https://arxiv.org/abs/2104.14267 · HTML: https://mlsanity.com/paper/2104.14267/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 29 Apr 2021.

## Built on by (most cited first, 1 of 1)

- [Learning to Seek: Multi-Agent Online Source Seeking Against Non-Stochastic Disturbances](https://mlsanity.com/paper/2305.00154/) (2023)

## Abstract (arXiv)

We present the design and experimental validation of source seeking control algorithms for a unicycle mobile robot that is equipped with novel 3D-printed flexible graphene-based piezoresistive airflow sensors. Based solely on a local gradient measurement from the airflow sensors, we propose and analyze a projected gradient ascent algorithm to solve the source seeking problem. In the case of partial sensor failure, we propose a combination of Extremum-Seeking Control with our projected gradient ascent algorithm. For both control laws, we prove the asymptotic convergence of the robot to the source. Numerical simulations were performed to validate the algorithms and experimental validations are presented to demonstrate the efficacy of the proposed methods.