On synchronous robotic networks -: Part II:: Time complexity of rendezvous and deployment algorithms

被引：65

作者：

Martinez, Sonia ^{[1
]}

Bullo, Francesco ^{[2
]}

Cortes, Jorge ^{[1
]}

Frazzoli, Emilio ^{[3
]}

机构：

[1] Univ Calif San Diego, Dept Mech & Aerosp Engn, La Jolla, CA 92093 USA

[2] Univ Calif Santa Barbara, Dept Mech Engn, Santa Barbara, CA 93106 USA

[3] MIT, Dept Aeronaut & Astronaut, Cambridge, MA 02139 USA

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2007年 / 52卷 / 12期

基金：

美国国家科学基金会;

关键词：

circumcenter and centroid laws; coordination algorithms; deployment; rendezvous; robotic networks; time complexity;

D O I：

10.1109/TAC.2007.908304

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：2214 / 2226

页数：13

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