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Bandit-Based Multi-Agent Source Seeking with Safety Guarantees
Zhibin Ji
Dingqi Zhu
Bin Du*
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Submitted: 2 Nov 2024 | Revised: 24 Dec 2024 | Accepted: 26 Dec 2024 | Published: 27 Dec 2024

Abstract

In this paper, we focus on a multi-agent source seeking problem where the safety of agents is characterized by a set of linear constraints. In particular, the safety constraints are also dependent on the unknown environment states, which makes the source seeking problem challenging to solve. To overcome such a challenge, we introduce a new notion of measurable path and then specify the reachability condition for all agents. A time-sequence of exploration is further introduced to help the agents to escape the stuck positions. To provide a performance guarantee for our source seeking algorithm, we perform the regret analysis and show a sub-linear cumulative regret. Finally, we evaluate the effectiveness of our SafeSearch algorithm through a set of simulations.

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Ji, Z., Zhu, D., & Du, B. (2024). Bandit-Based Multi-Agent Source Seeking with Safety Guarantees. Applied Mathematics and Statistics, 1(1), 5. https://doi.org/10.53941/ams.2024.100005
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