# Recursive Averaging with Application to Bio-Inspired 3D Source Seeking

arXiv: https://arxiv.org/abs/2203.11928 · HTML: https://mlsanity.com/paper/2203.11928/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 22 Mar 2022.

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

- [Improved Robustness of Deep Reinforcement Learning for Control of Time-Varying Systems by Bounded Extremum Seeking](https://mlsanity.com/paper/2510.02490/) (2025)

## Abstract (arXiv)

We analyze a class of high-amplitude, high-frequency oscillatory systems in which periodicity occurs on two distinct time scales and establish the convergence of its trajectories to a suitably averaged system by recursively applying the averaging theorem. Moreover, we introduce a novel bio-inspired 3D source seeking algorithm for rigid bodies with a collocated sensor and prove its practical stability under typical assumptions on the source signal strength field by combining our averaging results with singular perturbation.