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Distributed Control of Robotic Networks
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移动机器人网络的分布式控制经典入门教材,作者是加州大学的Francesco Bullo等。
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share March 22, 2009
Distributed Control of Robotic Networks
A Mathematical Approach to Motion Coordination Algorithms
Francesco Bullo
Jorge Cort´es
Sonia Mart´ınez
share March 22, 2009
Copyright
c
2006-2009 by F. Bullo, J. Cort´es, and S. Mart´ınez
This document is a complete free online version of the following book.
Distributed Control of Robotic Networks, by Francesco Bullo,
Jorge Cort´es and Sonia Mart´ınez, Applied Mathematics Series,
Princeton University Press, 2009, ISBN 978-0-691-14195-4.
The book is available online at
http://coordinationbook.info
(i) You are allowed to freely download, share, print, or photocopy this
document.
(ii) You are not allowed to modify, sell, or claim authorship of any part
of this document.
(iii) We thank you for any feedback information, including suggestions,
evaluations, error descriptions, or comments about teaching or re-
search uses.
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To Lily, to Sonia, and to Olimpia and Leonardo
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Contents
Preface vi
Chapter 1. An introduction to distributed alg orithms 1
1.1 Elementary concepts and notation 1
1.2 Matrix theory 6
1.3 Dynamical systems and stability theory 12
1.4 Graph theory 20
1.5 Distributed algorithms on synchronous networks 37
1.6 Linear distributed algorithms 52
1.7 Notes 66
1.8 Proofs 68
1.9 Exercises 84
Chapter 2. Geometric models and optimization 93
2.1 Basic geometric notions 93
2.2 Proximity graphs 102
2.3 Geometric optimization problems and multicenter functions 109
2.4 Notes 122
2.5 Proofs 123
2.6 Exercises 131
Chapter 3. Robotic network models and complexity notions 136
3.1 A model for synchronous robotic networks 136
3.2 Robotic networks with relative sensing 148
3.3 Coordination tasks and complexity notions 155
3.4 Complexity of direction agreement and equidistance 162
3.5 Notes 163
3.6 Proofs 165
3.7 Exercises 172
Chapter 4. Connectivity maintenance and rendezvous 175
4.1 Problem statement 176
4.2 Connectivity maintenance algorithms 178
DCRN March 22, 2009
4.3 Rendezvous algorithms 187
4.4 Simulation results 196
4.5 Notes 197
4.6 Proofs 199
4.7 Exercises 211
Chapter 5. Deployment 214
5.1 Problem statement 215
5.2 Deployment algorithms 217
5.3 Simulation results 228
5.4 Notes 232
5.5 Proofs 233
5.6 Exercises 240
Chapter 6. Boundary estimation and tracking 242
6.1 Event-driven asynchronous robotic networks 243
6.2 Problem statement 247
6.3 Estimate update and cyclic balancing law 251
6.4 Simulation results 261
6.5 Notes 263
6.6 Proofs 265
6.7 Exercises 270
Bibliography 273
Algorithm Index 299
Subject Index 300
Symbol Index 306
v
“Distributed Control of Robotic Networks” by F. Bullo, J. Cort´es and S. Mart´ınez
Copyright
c
2006-2009. Manuscript under contract. This version: March 22, 2009
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