Information consensus guarantees that robot vehicles sharing information over a network topology have a consistent view of information critical to the coordination task. Assuming only neighbor-neighbor interaction between vehicles, this monograph develops distributed consensus strategies designed to ensure that the information states of all vehicles in a network converge to a common value. This approach strengthens the team, minimizing power consumption and the effects of range and other restrictions. The monograph covers introductory, theoretical and experimental material, featuring - an overview of the use of consensus algorithms in cooperative control; - consensus algorithms in single- and double-integrator, and rigid-body-attitude dynamics; - rendezvous and axial alignment, formation control, deep-space formation flying, fire monitoring and surveillance. Six appendices cover material drawn from graph, matrix, linear and nonlinear systems theories. TOC:Part I: Overview of Consensus Algorithms in Cooperative Control.- Overview of Consensus Algorithms in Cooperative Control.- Part II: Consensus Algorithms for Single-integrator Dynamics.- Consensus Algorithms for Single-integrator Dynamics.- Consensus Tracking with a Reference State.- Part III: Consensus Algorithms for Double-integrator Dynamics.- Consensus Algorithms for Double-integrator Dynamics.- Extensions to a Reference Model.- Part IV: Consensus Algorithms for Rigid-body Rotational Dynamics.- Consensus Algorithms for Rigid-body Attitude Dynamics.- Relative Attitude Maintenance and Reference Attitude Tracking.- Part V: Consensus-based Design Methodologies for Distributed Multi-vehicle Cooperative Control.- Consensus-based Design Methodologies for Distributed Multi-vehicle Cooperative Control.- Part VI: Applications to Multi-vehicle Cooperative Control.- Rendezvous and Axial Alignment with Multiple Wheeled Mobile Robots.- Distributed Formation Control of Multiple Wheeled Mobile Robots with a Virtual Leader.- Decentralized Behavioral Approach to Wheeled Mobile Robot Formation Maneuvers.- Deep Space Spacecraft Formation Flying.- Cooperative Fire Monitoring with Multiple UAVs.- Cooperative Surveillance with Multiple UAVs.- Appendices: Graph Theory Notation; Matrix Theory Notation; Rigid-body Attitude Dynamics; Linear System Theory Background; Nonlinear System Theory Background.
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