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On Synchronous Robotic Networks—Part II: Time Complexity of Rendezvous and Deployment Algorithms

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4 Author(s)
Martinez, S. ; California Univ., San Diego ; Bullo, F. ; Cortes, J. ; Frazzoli, E.

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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Automatic Control, IEEE Transactions on  (Volume:52 ,  Issue: 12 )