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

Sonia Martínez, Francesco Bullo, Jorge Cortés and Emilio Frazzoli
IEEE Transactions on Automatic Control, 52 (12) (2007) 2214-2226

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.

File: main.pdf

Bib-tex entry:

@article{SM-FB-JC-EF:07-partII,
author = {S. Mart{\'\i}nez and F. Bullo and J. Cort\'es and E. Frazzoli},
title = {On synchronous robotic networks Part II: Time complexity of rendezvous and deployment algorithms},
journal= {IEEE Transactions on Automatic Control},
volume = 52,
number = 12,
year = 2007,
pages = {2214--2226}
}