Distributed Control of Robotic Networks
简介：
这种对机器人网络分布式控制的独立介绍提供了计算机科学和控制理论的独特融合。这本书提供了一套广泛的工具来理解协调算法，确定其正确性，并评估其复杂性; 它分析了各种合作策略，如共识，交会，连通性维护，部署和边界估计等任务。统一主题是机器人网络的正式模型，明确地结合了它们的通信，传感，控制和处理能力-这一模型反过来又导致了一种通用的形式语言来描述和分析协调算法。
对具有固定互连拓扑的处理器网络和具有位置相关互连拓扑的机器人网络的图论概念，分布式算法和复杂性度量的自包含说明在同步网络上解释为线性迭代的平均和一致性算法的详细处理引入几何概念，例如分区，邻近图和多中心函数详细处理用于部署，交会，连通性维护和边界估计的运动协调算法
英文简介：
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.
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 topologyDetailed treatment of averaging and consensus algorithms interpreted as linear iterations on synchronous networksIntroduction of geometric notions such as partitions, proximity graphs, and multicenter functionsDetailed treatment of motion coordination algorithms for deployment, rendezvous, connectivity maintenance, and boundary estimation
- 书名
- Distributed Control of Robotic Networks
- 译名
- 机器人网络的分布式控制
- 语言
- 英语
- 年份
- 2009
- 页数
- 323页
- 大小
- 10.48 MB
- 下载
Distributed Control of Robotic Networks.pdf- 密码
- 65536
最后更新：2025-04-12 23:54:37