Distributed Control of Robotic Networks
A Mathematical Approach to Motion Coordination Algorithms
MiniTutorial at 2009 SIAM Conference on Applications of Dynamical Systems
Distributed Control and Coordination Algorithms
Francesco Bullo, University of California, San Barbara
The minitutorial consists of two parts. First, we provide a present a coherent introduction to distributed algorithms, briefly covering results in graph theory, synchronous networks, and averaging algorithms. We also put forth a model for robotic networks that helps formalize and analyze coordination algorithms. In the second part, we present various algorithms for coordination tasks such as rendezvous, connectivity maintenance, deployment, and boundary estimation. A freely-available online manuscript (with corresponding tutorial slides) is available at http:coordinationbook.info.
The invited mini-tutorial amounts to a 2-hour lecture [PDF]