Jorge Cortés
Professor
Cymer Corporation Endowed Chair
On synchronous robotic networks - Part II: Time complexity of rendezvous and deployment algorithms
S. Martínez, F. Bullo, J. Cortés, E. Frazzoli
Proceedings of the 44th IEEE Int. Conf. Decision and Control, Seville, Spain, 2005, pp. 8313-8318
Abstract
This paper analyzes a number of basic coordination algorithms
running on synchronous robotic networks. We provide upper and lower
bounds on the time complexity of the move-toward average and
circumcenter laws, both achieving rendezvous, and of the centroid
law, achieving deployment over a region of interest. The results
are derived via novel analysis methods, including a set of results
on the convergence rates of linear dynamical systems defined by
tridiagonal Toeplitz and circulant matrices.
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Mechanical and Aerospace Engineering,
University of California, San Diego
9500 Gilman Dr,
La Jolla, California, 92093-0411
Ph: 1-858-822-7930
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cortes at ucsd.edu
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