Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms

Princeton University Press
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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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Mehran Mesbahi
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
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