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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Calculating the meeting point of scattered robots on weighted terrain surfaces
Mark Lanthier,Doron Nussbaum,Tsuo-Jung Wang +2 more
- 01 Jan 2005
TL;DR: The problem of determining a meeting point of a set of scattered robots R = {r1, r2,..., rs} in a weighted terrain P which has n > s triangular faces is discussed, and the algorithmic approach is to produce a discretization of P by producing a graph G = {VG, EG} which lies on the surface of P.
Conjugate Points in Formation Constrained Optimal Multi-Agent Coordination: A Case Study
TL;DR: An optimal coordinated motion planning problem for multiple agents subject to constraints on the admissible formation patterns is formulated and the complete set of conjugate points of a geodesic naturally associated with this problem is characterized analytically.
On the convergence time of distributed quantized averaging algorithms
Minghui Zhu,Sonia Martinez +1 more
- 01 Dec 2008
TL;DR: By appealing to random walks on graphs, the study of the convergence time of the proposed quantized averaging algorithms is studied and polynomial bounds on the expected convergence time are derived.
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Time-dependent unidirectional communication in multi-agent systems
TL;DR: It is observed that more communication does not necessarily lead to better convergence and may eventually even lead to a loss of convergence, even for the simple models discussed in the present paper.
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