  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.
