Download Distributed Control of Robotic Networks by Francesco Bullo, Jorge Cortes and Sonia Martınez

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Introduction

The intended audience for this book consists of first- and second-year graduate students in control and robotics from Computer Science, Electrical Engineering, Mechanical Engineering, and Aerospace Engineering. A familiarity with basic concepts from analysis, linear algebra, dynamical systems, and control theory is assumed. The writing style is mathematical: we have aimed at being precise in the introduction of the notions, the statement of the results, and the formal description of the algorithms. This mathematical style is complemented by numerous examples, exercises, intuitive explanations and motivating discussions for the introduction of novel concepts.

Researchers in the fields of control theory and robotics who are not aware of the literature on distributed algorithms will also benefit from the book. The book uses notions with a clear computer-science flavor such as synchronous networks, complexity measures, basic tree computations, and linear distributed iterations, and integrates them into the study of robotic networks. Likewise, researchers in the fields of distributed algorithms and automata theory who are not aware of robotic networks and distributed control will also find the book useful. The numerous connections that can be drawn between the classical study of distributed algorithms and the present book provide a friendly roadmap with which to step into the field of controlled coordination of robotic networks.

Table of Contents

Chapter 1. An introduction to distributed algorithms
Chapter 2. Geometric models and optimization
Chapter 3. Robotic network models and complexity notions
Chapter 4. Connectivity maintenance and rendezvous
Chapter 5. Deployment
Chapter 6. Boundary estimation and tracking