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Analysis and design tools for distributed motion coordination
J. Cortés, S. Martínez, F. Bullo
Proceedings of the American Control Conference, Portland, Oregon, USA, 2005, pp. 1680-1685

Abstract

This paper presents recently-developed theoretical tools for the analysis and design of coordination algorithms for networks of mobile autonomous agents. First, various motion coordination tasks are encoded into aggregate cost functions from Geometric Optimization. Second, the limited communication capabilities of the mobile agents are modeled via the notions of proximity graphs from Computational Geometry and of spatially distributed maps. Third, the algorithms correctness is established via advanced versions of the LaSalle Invariance Principle for non-deterministic systems in discrete and continuous time. Finally, we illustrate how to apply these tools in a variety of motion coordination problems such as deployment, rendezvous, and flocking.

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