Distributed control of robotic networks: a mathematical approach to motion coordination algorithms.

*(English)*Zbl 1193.93137
Princeton Series in Applied Mathematics. Princeton, NJ: Princeton University Press (ISBN 978-0-691-14195-4/hbk). xii, 320 p. (2009).

The present book appears as a result of the recent research activity on cooperative control and motion coordination. This interest is motivated by the growing possibilities enabled by robotic networks in the monitoring of natural phenomena and the enhancement of human capabilities in hazardous and unknown environments.

One of the first objectives in this book is to present a coherent introduction to basic distributed algorithms for robotic networks. The second objective is to provide a self-contained, broad exposition of the notion and tools from these areas that are relevant in cooperative control problems. The third objective is to put forth a model for robotic networks that helps to rigorously formalize coordination algorithms running on them. The fourth and the last objective is to present various algorithms for coordination tasks such as connectivity maintenance, rendezvous, and deployment.

The book consists of six chapters, bibliography, algoritm, subject and symbol index.

Chapter 1 presents a broad introduction to distributed algorithms on synchronous networks. Chapter 2 presents basic geometric notions that are relevant in motion coordination. Chapter 3 introduces a model for a group of robots that synchronously communicate/sense locally, process information, and move. Chapter 4 analyzes in detail two coordination tasks: connectivity maintenance (to establish local rules that allow agents to move without losing the connectivity of the overall networks) and rendezvous (to establish local rules that allow agents to agree on a common spatial location. Chapter 5 considers deployment problems (to establish local rules that allow agents to achieve optimal networks configurations in an environment of interest). Chapter 6 has a dual purpose. First, an event-driven control and communication law are introduced, and second a boundary tracking problem is considered and an estimation and balancing algorithm is proposed.

After reading this book the reader will be convinced that the intended audience for it consists of first- and second-year graduate students in control and robotics from Computer Science, Electrical and Mechanical Engineering, and Aerospace Engineering. Basic knowledge from analysis, linear algebra, dynamical systems and control are assumed. The book is also useful for researchers in the field of control theory and robotics who are not aware of the literature on distributed algorithms.

One of the first objectives in this book is to present a coherent introduction to basic distributed algorithms for robotic networks. The second objective is to provide a self-contained, broad exposition of the notion and tools from these areas that are relevant in cooperative control problems. The third objective is to put forth a model for robotic networks that helps to rigorously formalize coordination algorithms running on them. The fourth and the last objective is to present various algorithms for coordination tasks such as connectivity maintenance, rendezvous, and deployment.

The book consists of six chapters, bibliography, algoritm, subject and symbol index.

Chapter 1 presents a broad introduction to distributed algorithms on synchronous networks. Chapter 2 presents basic geometric notions that are relevant in motion coordination. Chapter 3 introduces a model for a group of robots that synchronously communicate/sense locally, process information, and move. Chapter 4 analyzes in detail two coordination tasks: connectivity maintenance (to establish local rules that allow agents to move without losing the connectivity of the overall networks) and rendezvous (to establish local rules that allow agents to agree on a common spatial location. Chapter 5 considers deployment problems (to establish local rules that allow agents to achieve optimal networks configurations in an environment of interest). Chapter 6 has a dual purpose. First, an event-driven control and communication law are introduced, and second a boundary tracking problem is considered and an estimation and balancing algorithm is proposed.

After reading this book the reader will be convinced that the intended audience for it consists of first- and second-year graduate students in control and robotics from Computer Science, Electrical and Mechanical Engineering, and Aerospace Engineering. Basic knowledge from analysis, linear algebra, dynamical systems and control are assumed. The book is also useful for researchers in the field of control theory and robotics who are not aware of the literature on distributed algorithms.

Reviewer: Clementina Mladenova (Sofia)

##### MSC:

93C85 | Automated systems (robots, etc.) in control theory |

68W15 | Distributed algorithms |

93A14 | Decentralized systems |

93C65 | Discrete event control/observation systems |

93-02 | Research exposition (monographs, survey articles) pertaining to systems and control theory |