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Full Description
With the help of a Voronoi diagram, this book systematically discusses how to solve the core cooperative control problem in a multi-robot system. From basic theory to cutting-edge applications, the book provides a comprehensive overview of the subject matter, offering readers a rigorous and practical knowledge system.
Central to this book's contribution is its transformation of centroidal Voronoi tessellations (CVT) theory into innovative multi-robot control algorithms. The effectiveness and superiority of these algorithms are verified through numerous simulations and real-environment experiments. The book demonstrates the deep integration of mathematical geometry and robotics, offering universal solutions for swarm intelligence in complex environments. It serves as an authoritative guide, bridging the gap between theoretical geometry and robotics engineering practice.
This book will be invaluable to scholars and students of robotics, automation, control engineering, and computer science.
Contents
1. Introduction 2. Geometric Properties and Computational Methods 3. Multi-Robot Cooperation and Formation 4. Multi-Robot Formation Switching 5. Multi-Robot Safety and Collision Avoidance 6. Multi-Robot Source Search and Coverage Control 7. Multi-Robot System Optimization and Health Management 8. Multi-Robot Capture 9. Reinforcement Learning and Multi-Robot Capture 10. Multi-Robot Physical Implementation 11. Conclusions and Future Prospects
