Distributed Control of Robotic Networks

A Mathematical Approach to Motion Coordination Algorithms
alt text 

Francesco Bullo

Department of Mechanical Engineering
University of California, Santa Barbara

Jorge Cortés

Department of Mechanical and Aerospace Engineering
University of California, San Diego

Sonia Martínez

Department of Mechanical and Aerospace Engineering
University of California, San Diego

Objectives of the book

  1. present a coherent introduction to basic distributed algorithms for robotic networks

  2. provide a self-contained, broad exposition of the mathematical notions and tools that are relevant in cooperative control problems

  3. put forth a model for robotic networks that helps to rigorously formalize coordination algorithms running on them

  4. present various algorithms for coordination tasks such as connectivity maintenance, rendezvous, and deployment

@Book{FB-JC-SM:08,
author = {F. Bullo and J. Cort\’es and S. Mart{\’\i}nez},
title = {Distributed Control of Robotic Networks},
year = 2008,
month = jun,
note = {Manuscript preprint. Electronically available at http://coordinationbook.info}
}