Distributed Control of Robotic Networks A Mathe

Thisself-containedintroductiontothedistributedcontrolofroboticnetworksoffersadistinctiveblendofcomputerscienceandcontroltheory.Thebookpresentsabroadsetoftoolsforunderstandingcoordinationalgorithms，determiningtheircorrectness，andassessingtheircomplexity;anditanalyzesvariouscooperativestrategiesfortaskssuchasconsensus，rendezvous，connectivitymaintenance，deployment，andboundaryestimation.Theunifyingthemeisaformalmodelforroboticnetworksthatexplicitlyincorporatestheircommunication，sensing，control，andprocessingcapabilities--amodelthatinturnleadstoacommonformallanguagetodescribeandanalyzecoordinationalgorithms.Writtenforfirst-andsecond-yeargraduatestudentsincontrolandrobotics，thebookwillalsobeusefultoresearchersincontroltheory，robotics，distributedalgorithms，andautomatatheory.Thebookprovidesexplanationsofthebasicconceptsandmainresults，aswellasnumerousexamplesandexercises.*Self-containedexpositionofgraph-theoreticconcepts，distributedalgorithms，andcomplexitymeasuresforprocessornetworkswithfixedinterconnectiontopologyandforroboticnetworkswithposition-dependentinterconnectiontopology*Detailedtreatmentofaveragingandconsensusalgorithmsinterpretedaslineariterationsonsynchronousnetworks*Introductionofgeometricnotionssuchaspartitions，proximitygraphs，andmulticenterfunctions*Detailedtreatmentofmotioncoordinationalgorithmsfordeployment，rendezvous，connectivitymaintenance，andboundaryestimation