Distributed Control of Robotic Networks

Princeton Series in Applied Mathematics

Book 27
Princeton University Press
1
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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

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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.
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Additional Information

Publisher
Princeton University Press
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Published on
Jul 6, 2009
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Pages
320
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ISBN
9781400831470
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Language
English
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Genres
Computers / Computer Science
Mathematics / Applied
Technology & Engineering / Robotics
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Content Protection
This content is DRM protected.
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Available on Android devices
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Eligible for Family Library

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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.

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