Distributed algorithms for cooperative control

Expressing a cooperative control system requires combining tools from control theory and distributed computation. After reviewing several possible formalisms appropriate for the job, the authors settle on the computation and control language and illustrate its main features and advantages using a cooperative tracking task. We demonstrate some of the concepts involved in using a multirobot task. We also discuss CCL's ability to be a programming language as well as a modeling tool, which lets us directly simulate or execute CCL models.