Distributed Coordination Theory for Robot Teams

Ashton Roza received the Bachelor of Applied Science (BASc) degree in Electrical Engineering in 2010 from the University of Waterloo, Canada. He received the Master of Applied Science (MASc) degree in 2012 and the PhD degree in 2019, both from the Edward S. Rogers Sr. Department of Electrical and Computer Engineering, University of Toronto, Canada. His research focuses on the application of nonlinear control and geometric methods to coordination in networks of autonomous robots. He has published papers in the IEEE Transactions on Automatic Control and IEEE Transactions on Control of Networked Systems.Manfredi Maggiore was born in Genoa, Italy. He received the "Laurea" degree in Electronic Engineering in 1996 from the University of Genoa and the PhD degree in Electrical Engineering from the Ohio State University, USA, in 2000. Since 2000 he has been with the Edward S. Rogers Sr. Department of Electrical and Computer Engineering, University of Toronto, Canada, where he is currently Professor. He has been a visiting Professor at the University of Bologna (2007-2008), and the Laboratoire des Signaux et Systèmes, Ecole CentraleSupélec (2015-2016, 2017, 2018). His research focuses on mathematical nonlinear control, and relies on methods from dynamical systems theory and differential geometry. In 2018, he won the Faculty Teaching Award at the University of Toronto. Dr. Maggiore has co-authored two books with Wiley and Springer. He is Associate Editor of the IEEE Transactions on Control Systems Technology and Control Engineering Practice.Luca Scardovi received the Laurea degree and Ph.D. degree in Electronic and Computer Engineering from the University of Genoa, Italy, in 2001 and 2005 respectively. He held research associate positions at the Department of Electrical Engineering and Computer Science at the University of Liège, Belgium (2005-2007) and at the Department of Mechanical and Aerospace Engineering at Princeton University (2007-2009). From 2009 to 2011 he was an Assistant Professor at the Technische Universität München, Munich, Germany. Since 2011 he has been with the Edward S. Rogers Sr. Department of Electrical and Computer Engineering, University of Toronto, Canada, where he is currently Associate Professor. In 2018 he was a Visiting Scientist at the Biocore Institute at INRIA Sophia Antipolis, France, and a Visiting Professor at the University of Cagliari, Italy. His research interests focus on dynamical systems with special emphasis in the analysis and control of emergent dynamics in networked dynamical systems. He is an Associate Editor for the journals Systems & Control Letters and IEEE Control Systems Letters.

• 1. Introduction.- 2. Modelling.- 3. Coordination Problems.- 4. Preliminaries.- 5. Rendezvous of Flying Robots with Local and Distributed Feedbacks.- 6. Rendezvous of Kinematic Unicycles with Local and Distributed Feedbacks.- 7. Formations of Kinematic Unicycles.- 8. Formations of Kinematic Unicycles with Parallel and Circular Collective Motions.- 9. General Formation Path Following.- 10. Unicycle Formation Simulation Trials.- 11. Conclusions and Future Research.

“The book is intended for students and scientists and should be of interest to practicing and research engineers as well as Ph.D. students in the field of motion control of robots and robot teams.” (Clementina Mladenova, zbMATH 1503.93007, 2023)