Distributed Control of Robotic Networks

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

1. present a coherent introduction to basic distributed algorithms for robotic networks

2. provide a self-contained, broad exposition of the mathematical notions and tools that are relevant in cooperative control problems

3. put forth a model for robotic networks that helps to rigorously formalize coordination algorithms running on them

4. present various algorithms for coordination tasks such as connectivity maintenance, rendezvous, and deployment