## Distributed Control of Robotic NetworksA Mathematical Approach to Motion Coordination AlgorithmsThe entire book is freely available for download. The latest version
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## Book contents## Chapter 1: An introduction to distributed algorithms [PDF]Elementary concepts and notation Distance functions Matrix theory
State machines and dynamical systems Stability and attractivity notions Invariance principles Notions and results for set-valued systems Notions and results for time-dependent systems
Graph theory Connectivity notions Weighted digraphs Distances on digraphs and weighted digraphs Graph algorithms Algebraic graph theory
Distributed algorithms on synchronous networks Physical components and computational models Complexity notions Broadcast and BFS tree computation Leader election Shortest-paths tree computation
Linear distributed algorithms Linear iterations on synchronous networks Averaging algorithms Convergence speed of averaging algorithms Algorithms defined by tridiagonal Toeplitz and tridiagonal circulant matrices
Notes Proofs Exercises
## Chapter 2: Geometric models and optimization [PDF]Basic geometric notions Polygons and polytopes Nonconvex geometry Geometric centers Voronoi and range-limited Voronoi partitions
Proximity graphs Spatially distributed proximity graphs Proximity graphs over tuples of points Spatially distributed maps
Geometric optimization problems and multicenter functions Expected-value multicenter functions Worst-case and disk-covering multicenter functions Sphere-packing multicenter functions
Notes Proofs Exercises
## Chapter 3: Robotic network models and complexity notions [PDF]A model for synchronous robotic networks Physical components Control and communication laws Agree and pursuit control and communication law
Robotic networks with relative sensing Kinematics notions The physical components Relative-sensing control laws Equivalence between communication and relative-sensing laws
Coordination tasks and complexity notions Coordination tasks Complexity notions Invariance under rescheduling
Complexity of direction agreement and equidistance Notes Proofs Exercises
## Chapter 4: Connectivity maintenance and rendezvous [PDF]Problem statement Connectivity maintenance algorithms Enforcing range-limited links Enforcing network connectivity Enforcing range-limited line-of-sight links and network connectivity
Rendezvous algorithms Averaging control and communication law Circumcenter control and communication laws Correctness and complexity of circumcenter laws Circumcenter law in nonconvex environments
Simulation results Notes Proofs Exercises
## Chapter 5: Deployment [PDF]Problem statement Deployment algorithms Geometric-center laws Geometric-center laws with range-limited interactions Correctness and complexity of geometric-center laws
Simulation results Notes Proofs Exercises
## Chapter 6: Boundary estimation and tracking [PDF]Event-driven asynchronous robotic networks Problem statement Linear interpolations for boundary estimation Network model and boundary estimation task
Estimate update and cyclic balancing law Single-robot estimate update law Cooperative estimate update law Cyclic balancing algorithm for equidistance task Correctness of the estimate update and cyclic balancing law
Simulations results Notes Proofs Exercises
## References [PDF]## Indices [PDF] |