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.
In REF , the authors provide upper and lower bounds on the time complexity of two geometric laws that result in rendezvous.
On Synchronous Robotic Networks—Part II: Time Complexity of Rendezvous and Deployment Algorithms
IEEE Transactions on Automatic Control
IEEE Transactions on Automatic Control
Computer Science