Distributed Computation for Cooperative Control

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Eric Klavins and Richard M. Murray
IEEE Pervasive Computing, 3(1):56-65

A cooperative control system consists of multiple, autonomous

 components interacting to
control their environment. Examples include air tra±c control systems, automated factories,
robot soccer teams and sensor/actuator networks. Designing such systems requires a combination of tools from control theory and distributed systems. In this article, we review some of these tools and then focus on the Computation and Control Language, CCL, which we have developed as a modeling tool and a programming language for cooperative control systems.