Distributed Control of Robotic Networks A Mathematical Approach to Motion Coordination Algorithms
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 a...
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| Main Authors: | , , |
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| Format: | eBook Book |
| Language: | English |
| Published: |
Princeton, N.J
Princeton University Press
2009
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| Edition: | 1 |
| Series: | Princeton Series in Applied Mathematics |
| Subjects: | |
| ISBN: | 9780691141954, 0691141959, 0691146640, 9780691146645, 1400831474, 9781400831470 |
| Online Access: | Get full text |
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Table of Contents:
- Distributed control of robotic networks: A mathematical approach to motion coordination algorithms (Princeton series in applied mathematics) -- Contents -- Preface -- Chapter One: An introduction to distributed algorithms -- Chapter Two: Geometric models and optimization -- Chapter Three: Robotic network models and complexity notions -- Chapter Four: Connectivity maintenance and rendezvous -- Chapter Five: Deployment -- Chapter Six: Boundary estimation and tracking -- Bibliography -- Algorithm Index -- Subject Index -- Symbol Index
- Front Matter Table of Contents Preface Chapter One: An introduction to distributed algorithms Chapter Two: Geometric models and optimization Chapter Three: Robotic network models and complexity notions Chapter Four: Connectivity maintenance and rendezvous Chapter Five: Deployment Chapter Six: Boundary estimation and tracking Bibliography Algorithm Index Subject Index Symbol Index
- Title Page Preface Table of Contents 1. An Introduction to Distributed Algorithms 2. Geometric Models and Optimization 3. Robotic Network Models and Complexity Notions 4. Connectivity Maintenance and Rendezvous 5. Deployment 6. Boundary Estimation and Tracking Bibliography Algorithm Index Subject Index Symbol Index
- Intro -- Preface -- An introduction to distributed algorithms -- Elementary concepts and notation -- Matrix theory -- Dynamical systems and stability theory -- Graph theory -- Distributed algorithms on synchronous networks -- Linear distributed algorithms -- Notes -- Proofs -- Exercises -- Geometric models and optimization -- Basic geometric notions -- Proximity graphs -- Geometric optimization problems and multicenter functions -- Notes -- Proofs -- Exercises -- Robotic network models and complexity notions -- A model for synchronous robotic networks -- Robotic networks with relative sensing -- Coordination tasks and complexity notions -- Complexity of direction agreement and equidistance -- Notes -- Proofs -- Exercises -- Connectivity maintenance and rendezvous -- Problem statement -- Connectivity maintenance algorithms -- Rendezvous algorithms -- Simulation results -- Notes -- Proofs -- Exercises -- Deployment -- Problem statement -- Deployment algorithms -- Simulation results -- Notes -- Proofs -- Exercises -- Boundary estimation and tracking -- Event-driven asynchronous robotic networks -- Problem statement -- Estimate update and cyclic balancing law -- Simulation results -- Notes -- Proofs -- Exercises -- Bibliography -- Algorithm Index -- Subject Index -- Symbol Index
- Subject Index
- Chapter Four. Connectivity maintenance and rendezvous
- Chapter Two. Geometric models and optimization
- Chapter Six. Boundary estimation and tracking
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- Algorithm Index
- Contents
- Symbol Index
- Frontmatter --
- Preface
- Chapter One. An introduction to distributed algorithms
- Chapter Three. Robotic network models and complexity notions
- Chapter Five. Deployment
- Bibliography