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Distributed Control of Robotic Networks
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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
  • ISBN-10: 0691141959
  • ISBN-13: 978-0691141954
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Book Description

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.

  • 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
About the Authors
  • 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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