Distributed Control of Robotic Networks

Princeton Series in Applied Mathematics

Book 27
Princeton University Press
Free sample

This self-contained introduction to the distributed control of robotic networks offers a distinctive blend of computer science and control theory. The book presents a broad set of tools for understanding coordination algorithms, determining their correctness, and assessing their complexity; and it analyzes various cooperative strategies for tasks such as consensus, rendezvous, connectivity maintenance, deployment, and boundary estimation. The unifying theme is a formal model for robotic networks that explicitly incorporates their communication, sensing, control, and processing capabilities--a model that in turn leads to a common formal language to describe and analyze coordination algorithms.

Written for first- and second-year graduate students in control and robotics, the book will also be useful to researchers in control theory, robotics, distributed algorithms, and automata theory. The book provides explanations of the basic concepts and main results, as well as numerous examples and exercises.

  • Self-contained exposition of graph-theoretic concepts, distributed algorithms, and complexity measures for processor networks with fixed interconnection topology and for robotic networks with position-dependent interconnection topology

  • Detailed treatment of averaging and consensus algorithms interpreted as linear iterations on synchronous networks

  • Introduction of geometric notions such as partitions, proximity graphs, and multicenter functions

  • Detailed treatment of motion coordination algorithms for deployment, rendezvous, connectivity maintenance, and boundary estimation

Read more

About the author

Francesco Bullo is professor of mechanical engineering at the University of California, Santa Barbara. Jorge Cortés is associate professor of mechanical and aerospace engineering at the University of California, San Diego. Sonia Martínez is assistant professor of mechanical and aerospace engineering at the University of California, San Diego.
Read more
1 total

Additional Information

Princeton University Press
Read more
Published on
Jul 6, 2009
Read more
Read more
Read more
Read more
Read more
Read more
Computers / Computer Science
Mathematics / Applied
Technology & Engineering / Robotics
Read more
Content Protection
This content is DRM protected.
Read more
Read Aloud
Available on Android devices
Read more
Eligible for Family Library

Reading information

Smartphones and Tablets

Install the Google Play Books app for Android and iPad/iPhone. It syncs automatically with your account and allows you to read online or offline wherever you are.

Laptops and Computers

You can read books purchased on Google Play using your computer's web browser.

eReaders and other devices

To read on e-ink devices like the Sony eReader or Barnes & Noble Nook, you'll need to download a file and transfer it to your device. Please follow the detailed Help center instructions to transfer the files to supported eReaders.
This accessible book provides an introduction to the analysis and design of dynamic multiagent networks. Such networks are of great interest in a wide range of areas in science and engineering, including: mobile sensor networks, distributed robotics such as formation flying and swarming, quantum networks, networked economics, biological synchronization, and social networks. Focusing on graph theoretic methods for the analysis and synthesis of dynamic multiagent networks, the book presents a powerful new formalism and set of tools for networked systems.

The book's three sections look at foundations, multiagent networks, and networks as systems. The authors give an overview of important ideas from graph theory, followed by a detailed account of the agreement protocol and its various extensions, including the behavior of the protocol over undirected, directed, switching, and random networks. They cover topics such as formation control, coverage, distributed estimation, social networks, and games over networks. And they explore intriguing aspects of viewing networks as systems, by making these networks amenable to control-theoretic analysis and automatic synthesis, by monitoring their dynamic evolution, and by examining higher-order interaction models in terms of simplicial complexes and their applications.

The book will interest graduate students working in systems and control, as well as in computer science and robotics. It will be a standard reference for researchers seeking a self-contained account of system-theoretic aspects of multiagent networks and their wide-ranging applications.

This book has been adopted as a textbook at the following universities:

University of Stuttgart, Germany
Royal Institute of Technology, Sweden
Johannes Kepler University, Austria
Georgia Tech, USA
University of Washington, USA
Ohio University, USA
The coordinated use of autonomous vehicles has an abundance of potential applications from the domestic to the hazardously toxic. Frequently the communications necessary for the productive interplay of such vehicles may be subject to limitations in range, bandwidth, noise and other causes of unreliability.

Information consensus guarantees that vehicles sharing information over a network topology have a consistent view of information critical to the coordination task. Assuming only neighbor-neighbor interaction between vehicles, Distributed Consensus in Multi-vehicle Cooperative Control develops distributed consensus strategies designed to ensure that the information states of all vehicles in a network converge to a common value. This approach strengthens the team, minimizing power consumption and the deleterious effects of range and other restrictions.

The monograph is divided into six parts covering introductory, theoretical and experimental material and featuring:

• an overview of the use of consensus algorithms in cooperative control;

• consensus algorithms in single- and double-integrator dynamical systems;

• consensus algorithms for rigid-body attitude dynamics;

• rendezvous and axial alignment, formation control, deep-space formation flying, fire monitoring and surveillance.

Notation drawn from graph and matrix theory and background material on linear and nonlinear system theory are enumerated in six appendices. The authors maintain a website at which can be found a sample simulation and experimental video material associated with experiments in several chapters of this book.

Academic control systems researchers and their counterparts in government laboratories and robotics- and aerospace-related industries will find the ideas presented in Distributed Consensus in Multi-vehicle Cooperative Control of great interest. This text will also serve as a valuable support and reference for graduate courses in robotics, and linear and nonlinear control systems.

©2019 GoogleSite Terms of ServicePrivacyDevelopersArtistsAbout Google|Location: United StatesLanguage: English (United States)
By purchasing this item, you are transacting with Google Payments and agreeing to the Google Payments Terms of Service and Privacy Notice.