LEADER 04554nam 2200829Ia 450 001 9910456824703321 005 20200520144314.0 010 $a1-68015-897-X 010 $a1-282-45820-5 010 $a1-282-93575-5 010 $a9786612458200 010 $a9786612935756 010 $a1-4008-3147-4 010 $a0-691-14195-9 024 7 $a10.1515/9781400831470 035 $a(CKB)2550000000007546 035 $a(EBL)483500 035 $a(OCoLC)609855940 035 $a(SSID)ssj0000358952 035 $a(PQKBManifestationID)11925424 035 $a(PQKBTitleCode)TC0000358952 035 $a(PQKBWorkID)10378914 035 $a(PQKB)11435001 035 $a(MiAaPQ)EBC483500 035 $a(DE-B1597)446779 035 $a(OCoLC)979835075 035 $a(DE-B1597)9781400831470 035 $a(MiAaPQ)EBC4968545 035 $a(PPN)199244367$9sudoc 035 $a(PPN)187953694 035 $a(Au-PeEL)EBL483500 035 $a(CaPaEBR)ebr10364752 035 $a(CaONFJC)MIL293575 035 $a(Au-PeEL)EBL4968545 035 $a(CaONFJC)MIL245820 035 $a(OCoLC)741250474 035 $a(EXLCZ)992550000000007546 100 $a20090212d2009 uy 0 101 0 $aeng 135 $aur|n|---||||| 181 $ctxt 182 $cc 183 $acr 200 10$aDistributed control of robotic networks$b[electronic resource] $ea mathematical approach to motion coordination algorithms /$fFrancesco Bullo, Jorge Corte?s, Sonia Marti?nez 205 $aCourse Book 210 $aPrinceton, NJ $cPrinceton University Press$d2009 215 $a1 online resource (333 p.) 225 1 $aPrinceton series in applied mathematics 300 $aDescription based upon print version of record. 320 $aIncludes bibliographical references and index. 327 $t Frontmatter -- $tContents -- $tPreface -- $tChapter One. An introduction to distributed algorithms -- $tChapter Two. Geometric models and optimization -- $tChapter Three. Robotic network models and complexity notions -- $tChapter Four. Connectivity maintenance and rendezvous -- $tChapter Five. Deployment -- $tChapter Six. Boundary estimation and tracking -- $tBibliography -- $tAlgorithm Index -- $tSubject Index -- $tSymbol Index 330 $aThis self-contained introduction to the distributed control of robotic networks offers a distinctive blend of computer science and control theory. The book presents a broad set of tools for understanding coordination algorithms, determining their correctness, and assessing their complexity; and it analyzes various cooperative strategies for tasks such as consensus, rendezvous, connectivity maintenance, deployment, and boundary estimation. The unifying theme is a formal model for robotic networks that explicitly incorporates their communication, sensing, control, and processing capabilities--a model that in turn leads to a common formal language to describe and analyze coordination algorithms. Written for first- and second-year graduate students in control and robotics, the book will also be useful to researchers in control theory, robotics, distributed algorithms, and automata theory. The book provides explanations of the basic concepts and main results, as well as numerous examples and exercises. Self-contained exposition of graph-theoretic concepts, distributed algorithms, and complexity measures for processor networks with fixed interconnection topology and for robotic networks with position-dependent interconnection topology Detailed treatment of averaging and consensus algorithms interpreted as linear iterations on synchronous networks Introduction of geometric notions such as partitions, proximity graphs, and multicenter functions Detailed treatment of motion coordination algorithms for deployment, rendezvous, connectivity maintenance, and boundary estimation 410 0$aPrinceton series in applied mathematics. 606 $aRobotics 606 $aComputer algorithms 606 $aRobots$xControl systems 608 $aElectronic books. 615 0$aRobotics. 615 0$aComputer algorithms. 615 0$aRobots$xControl systems. 676 $a629.8/9246 686 $aSK 880$2rvk 700 $aBullo$b Francesco$0496801 701 $aCorte?s$b Jorge$f1974-$01055528 701 $aMarti?nez$b Sonia$f1974-$01055529 801 0$bMiAaPQ 801 1$bMiAaPQ 801 2$bMiAaPQ 906 $aBOOK 912 $a9910456824703321 996 $aDistributed control of robotic networks$92489034 997 $aUNINA