{"ID":2868994,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2509.16365","arxiv_id":"2509.16365","title":"Servos for Local Map Exploration Onboard Nonholonomic Vehicles for Extremum Seeking","abstract":"Extremum seeking control (ESC) often employs perturbation-based estimates of derivatives for some sensor field or cost function. These estimates are generally obtained by simply multiplying the output of a single-unit sensor by some time-varying function. Previous work has focused on sinusoidal perturbations to generate derivative estimates with results for arbitrary order derivatives of scalar maps or higher up to third-order derivatives of multivariable maps. This work extends the perturbations from sinusoidal to bounded periodic or almost periodic functions and considers multivariable maps. A necessary and sufficient condition is given for determining if time-varying functions exist for estimating arbitrary order derivatives of multivariable maps for any given bounded periodic or almost periodic dither signal. These results are then used in a source seeking controller for a nonholonomic vehicle with a sensor actuated by servo. The conducted simulation and real-world experiments demonstrate that by distributing the local map exploration to a servo, the nonholonomic vehicle was able to achieve a faster convergence to the source.","short_abstract":"Extremum seeking control (ESC) often employs perturbation-based estimates of derivatives for some sensor field or cost function. These estimates are generally obtained by simply multiplying the output of a single-unit sensor by some time-varying function. Previous work has focused on sinusoidal perturbations to generat...","url_abs":"https://arxiv.org/abs/2509.16365","url_pdf":"https://arxiv.org/pdf/2509.16365v1","authors":"[\"Dylan James-Kavanaugh\",\"Patrick McNamee\",\"Qixu Wang\",\"Zahra Nili Ahmadabadi\"]","published":"2025-09-19T19:12:48Z","proceeding":"eess.SY","tasks":"[\"eess.SY\",\"cs.RO\"]","methods":"[\"LoRA\"]","has_code":false}