Distributed Consensus in Multi-vehicle Cooperative Control Theory and Applications Series: Communications and Control Engineering, Springer-Verlag, London Wei Ren, Randal Beard 2008, Hardcover, ISBN: 978-1-84800-014-8 Table of Contents 1. Overview of Consensus Algorithms in Cooperative Control 2. Consensus Algorithms for Single-integrator Dynamics 3. Consensus Tracking with a Reference State 4. Consensus Algorithms for Double-integrator Dynamics 5. Extensions to a Reference Model 6. Consensus Algorithms for Rigid Body Attitude Dynamics 7. Relative Attitude Maintenance and Reference Attitude Tracking 8. Consensus-based Design Methodologies for Distributed Multivehicle Cooperative Control 9. Rendezvous and Axial Alignment with Multiple Wheeled Mobile Robots 10. Distributed Formation Control of Multiple Wheeled Mobile Robots with a Virtual Leader 11. Decentralized Behavioral Approach to Wheeled Mobile Robot Formation Maneuvers 12. Deep Space Spacecraft Formation Flying 13. Cooperative Fire Monitoring with Multiple UAVs 14. Cooperative Surveillance with Multiple UAVs Appendix A: Selected Notations and Abbreviations Appendix B: Graph Theory Notations Appendix C: Matrix Theory Notations Appendix D: Rigid Body Attitude Dynamics Appendix E: Linear System Theory Background Appendix F: Nonlinear System Theory Background References Index Tutorial Slides on Consensus

Sample Simulation and Experimental Materials Associated with the Book

The basic idea for information consensus is that each vehicle updates its information based on the information of its local neighbors so that the final information of each vehicle converges to a common value. This basic idea can be extended to a variety of scenarios that incorporate group behavior and dynamics. Consensus algorithms have applications in rendezvous, formation control, flocking, attitude alignment, decentralized task assignment, and sensor networks. Experimental results of the consensus algorithms in rendezvous applications can be found at Experimental Video 1 (Four robots rendezvous with a dynamic interaction topology that is directed switching but has a directed spanning tree jointly.), Experimental Video 2 (Four robots rendezvous with a static interaction topology that has a directed spanning tree.), and Experimental Video 3 (Four robots align their positions along a horizontal line with a even separation distance with a static interaction topology that has a directed spanning tree.). Experimental results of the consensus algorithms in formation control applications can be found at Experimental Video 1 (Four robots follow a circle while maintaining a square formation under a static interaction topology with a directed spanning tree.), Experimental Video 2 (Four robots follow a circle while maintaining a square formation under switching interaction topology with a directed spanning tree at each time instant.), and Experimental Video (Four robots use coupled linear harmonic oscillators to achieve synchronized motions.). Simulation results of the consensus algorithms in deep space spacecraft formation flying applications can be found at Simulation Videos while a conceptual experimental demonstration on the ground robots can be found at Experimental Video.