On synchronous robotic networks Part II: Time complexity of rendezvous and deployment algorithms
On synchronous robotic networks Part II: Time complexity of rendezvous and deployment algorithms
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DOI：
10.1109/cdc.2005.1583508
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发表时间：
2005-12
期刊：
影响因子：
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通讯作者：
S. Martínez;F. Bullo;J. Cortés;Emilio Frazzoli
中科院分区：
文献类型：
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作者：
S. Martínez;F. Bullo;J. Cortés;Emilio Frazzoli
本文分析了同步机器人网络上运行的一些基本协调算法。我们提供的时间复杂性的移动到平均和外心法，既实现会合，和质心法，实现部署在感兴趣的区域上的上限和下限。结果是通过新的分析方法，包括一组由三对角Toeplitz和循环矩阵定义的线性动力系统的收敛速度的结果。
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.