Distributed Consensus in Multi-vehicle Cooperative Control

Theory and Applications

  • Wei Ren
  • Randal W. Beard

Part of the Communications and Control Engineering book series (CCE)

Table of contents

  1. Front Matter
    Pages i-xv
  2. Overview of Consensus Algorithms in Cooperative Control

  3. Consensus Algorithms for Single-integrator Dynamics

  4. Consensus Algorithms for Double-integrator Dynamics

  5. Consensus Algorithms for Rigid Body Attitude Dynamics

  6. Consensus-based Design Methodologies for Distributed Multivehicle Cooperative Control

  7. Applications to Multivehicle Cooperative Control

  8. Back Matter
    Pages 279-319

About this book


The coordinated use of autonomous vehicles has an abundance of potential applications from the domestic to the hazardously toxic. Frequently the communications necessary for the productive interplay of such vehicles may be subject to limitations in range, bandwidth, noise and other causes of unreliability.

Information consensus guarantees that vehicles sharing information over a network topology have a consistent view of information critical to the coordination task. Assuming only neighbor-neighbor interaction between vehicles, Distributed Consensus in Multi-vehicle Cooperative Control develops distributed consensus strategies designed to ensure that the information states of all vehicles in a network converge to a common value. This approach strengthens the team, minimizing power consumption and the deleterious effects of range and other restrictions.

The monograph is divided into six parts covering introductory, theoretical and experimental material and featuring:

• an overview of the use of consensus algorithms in cooperative control;

• consensus algorithms in single- and double-integrator dynamical systems;

• consensus algorithms for rigid-body attitude dynamics;

• rendezvous and axial alignment, formation control, deep-space formation flying, fire monitoring and surveillance.

Notation drawn from graph and matrix theory and background material on linear and nonlinear system theory are enumerated in six appendices. The authors maintain a website at which can be found a sample simulation and experimental video material associated with experiments in several chapters of this book.

Academic control systems researchers and their counterparts in government laboratories and robotics- and aerospace-related industries will find the ideas presented in Distributed Consensus in Multi-vehicle Cooperative Control of great interest. This text will also serve as a valuable support and reference for graduate courses in robotics, and linear and nonlinear control systems.


Monitoring Tracking algorithms autonom communication information mobile robot robot robotics systems theory unmanned aerial vehicle

Authors and affiliations

  • Wei Ren
    • 1
  • Randal W. Beard
    • 2
  1. 1.Department of Electrical and Computer EngineeringUtah State UniversityLoganUSA
  2. 2.Department of Electrical and Computer EngineeringBrigham Young UniversityProvoUSA

Bibliographic information

  • DOI
  • Copyright Information Springer-Verlag London Limited 2008
  • Publisher Name Springer, London
  • eBook Packages Engineering Engineering (R0)
  • Print ISBN 978-1-84800-014-8
  • Online ISBN 978-1-84800-015-5
  • Series Print ISSN 0178-5354
  • Buy this book on publisher's site
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