Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms
Francesco Bullo,Jorge E. Cortes,Sonia Martinez +2 more
- 26 Jul 2009
TL;DR: This self-contained introduction to the distributed control of robotic networks offers 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.
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Abstract: 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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Citations
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References
Distributed Consensus in Multi-vehicle Cooperative Control: Theory and Applications (Ren, W. and Beard, R.W.; 2008) [Book Shelf]
Jinhuan Wang,Xiaoming Hu +1 more
TL;DR: In this paper, the authors present a research monograph that incorporates the authors' main work in multivehicle cooperative control using distributed consensus algorithms, which involves both theoretical analysis and engineering applications in distributed coordination of multiple ground robots, spacecraft, and unmanned aerial vehicles.
316
Multi-Robot Systems: From Swarms to Intelligent Automata
Alan C. Schultz,Lynne E. Parker +1 more
- 01 Jan 2002
TL;DR: This paper presents a framework for Studying Multi-Robot Task Allocation in a Distributed Layered Architecture, and discusses the impact of Autonomy in Multirobot Systems on Teleoperation Performance.
316
Smooth surface reconstruction via natural neighbour interpolation of distance functions
Jean-Daniel Boissonnat,Frédéric Cazals +1 more
- 01 May 2000
TL;DR: An algorithm to reconstruct smooth surfaces of arbitrary topology from unorganised sample points and normals using natural neighbour interpolation, works in any dimension and allows to deal with non uniform samples.
Consensus Optimization on Manifolds
TL;DR: The present paper considers distributed consensus algorithms that involve $N$ agents evolving on a connected compact homogeneous manifold, introduced here as the induced arithmetic mean, that is easily computable in closed form and may be of independent interest for a number of manifolds.
305
Stable Flocking of Multiple Inertial Agents on Balanced Graphs
Dongjun Lee,Mark W. Spong +1 more
TL;DR: A provably stable flocking control law is proposed, which ensures that the internal group shape is exponentially stabilized to a desired one, while all the agents' velocities converge to the centroid velocity that is also shown to be time-invariant.
304
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