Leseprobe
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Distributed Control of Robotic Networks
Jorge Cortés, Sonia Martínez, Francesco Bullo, et al.
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Naturwissenschaften, Medizin, Informatik, Technik / Technik
Beschreibung
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 analyzes various cooperative strategies for tasks such as consensus, rendezvous, connectivity maintenance, deployment, and boundary estimation. The unifying theme is a formal model for robotic networks that explicitly incorporates their communication, sensing, control, and processing capabilities--a model that in turn leads to a common formal language to describe and analyze coordination algorithms.
Written for first- and second-year graduate students in control and robotics, the book will also be useful to researchers in control theory, robotics, distributed algorithms, and automata theory. The book provides explanations of the basic concepts and main results, as well as numerous examples and exercises.
- Self-contained exposition of graph-theoretic concepts, distributed algorithms, and complexity measures for processor networks with fixed interconnection topology and for robotic networks with position-dependent interconnection topology
- Detailed treatment of averaging and consensus algorithms interpreted as linear iterations on synchronous networks
- Introduction of geometric notions such as partitions, proximity graphs, and multicenter functions
- Detailed treatment of motion coordination algorithms for deployment, rendezvous, connectivity maintenance, and boundary estimation
Kundenbewertungen
Circulant matrix, Bellman–Ford algorithm, Algorithm, Linear dynamical system, Permutation matrix, Leader election, Mathematical optimization, Adjacency matrix, Quantifier (logic), Information theory, Sensor, Cartesian product, Computer simulation, Numerical integration, Vector field, Distributed algorithm, Proportionality (mathematics), Chebyshev center, Connectivity (graph theory), Dimensional analysis, Simultaneous equations, Dynamical system, Simply connected space, Cluster analysis, Quantization (signal processing), Laplacian matrix, Linear interpolation, Combinatorics, Robustness (computer science), Directed graph, Time complexity, 1-center problem, Estimation, Initial condition, Linear programming, Consensus (computer science), Computational complexity theory, Instance (computer science), Scientific notation, Disk (mathematics), Stochastic, Differentiable function, Circumscribed circle, Eigenvalues and eigenvectors, Computational geometry, Polytope, State space, Bounded set (topological vector space), Control function (econometrics), Topology, Algebraic topology (object), Function composition, Strongly connected component, Computation, Kinematics, Lipschitz continuity, Synchronous network, Optimization problem, Calculation, Norm (mathematics), Analysis of algorithms, Combinatorial optimization, Theorem, Network model, Communication complexity, Stochastic matrix, Optimal control, Markov chain, Parameter (computer programming), Discrete time and continuous time