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Название: Distributed control of robotic networks: a mathematical approach to motion coordination algorithms
Авторы: Bullo F., Cortes J., Martinez S.
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.