Jorge Cortés


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


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
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