On Synchronous Robotic Networks—Part II: Time Complexity of Rendezvous and Deployment Algorithms |
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Authors: | Martinez S. Bullo F. Cortes J. Frazzoli E. |
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Affiliation: | California Univ., San Diego; |
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Abstract: | 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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