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. .eText ISBN: 9781848000155
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