Distributed Computation for Cooperative Control

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.

• Magazine submission: http://www.cds.caltech.edu/~murray/preprints/km03-ieeepc.pdf
• Project(s): Template:HTDB funding::DARPA/SEC, Template:HTDB funding::MURI/coop