Distributed Source Seeking for an Uncertain Signal Source Using Adaptive Model Predictive Control
Why this work is in the frame
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Bibliographic record
Abstract
In this paper, we address the source seeking problem with a moving signal source, and propose an adaptive model predictive control (MPC) scheme. In particular, we model the signal field generated by the signal source as a time-varying linear combination of several convex basis functions. A distributed system is leveraged to estimate the signal field based on a distributed set-membership estimation procedure, and the estimation result is used as the output function of each agent in the system. To ensure the recursive feasibility of MPC while the signal source is moving unpredictably, an adaptive terminal set is designed. We also demonstrate that our closed-loop system is practically stable under the proposed adaptive MPC. Simulation results show the effectiveness of our method.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.001 | 0.001 |
| Meta-epidemiology (broad) | 0.002 | 0.001 |
| Bibliometrics | 0.001 | 0.001 |
| Science and technology studies | 0.001 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it