Distributed Control of Robotic Networks

A Mathematical Approach to Motion Coordination Algorithms

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

present a coherent introduction to distributed algorithms, covering results in graph theory, synchronous networks, and averaging algorithms
provide a self-contained exposition of relevant geometric models and geometric optimization problems
put forth a model for robotic networks that helps formalize and analyze coordination algorithms
present various algorithms for coordination tasks such as rendezvous, connectivity maintenance, 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},
publisher = {Princeton University Press},
address = {Princeton, NJ},
year = 2008,
month = sep,
note = {Manuscript under contract. Electronically available at http://coordinationbook.info}
}