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 Title Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms
 Author(s) Francesco Bullo, Jorge Cortes, Sonia Martinez
 Publisher: Princeton University Press (2009); eBook (Online Edition, June 4, 2008)
 Permission: Free eBook Download provided by the Authors
 Hardcover 323 pages
 eBook PDF Files
 Language: English
 ISBN10: 0691141959
 ISBN13: 9780691141954
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Book Description
This selfcontained 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.
 Selfcontained exposition of graphtheoretic concepts, distributed algorithms, and complexity measures for processor networks with fixed interconnection topology and for robotic networks with positiondependent 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
 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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