# EECI08: Distributed Protocols and CCL

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This lecture introduces the use of protocols and temporal logic for reasoning about logical computations in cooperative control. We focus on a specific example of a language for control of cooperative systems called *CCL* (Computation and Control Language). We use CCL to demonstrate how to prove stability for distributed protocols.

#### Lecture Materials

- Lecture slides: Distributed Computation for Cooperative Control

## Further Reading

E. Klavins, “A Computation and Control Language for Multi-Vehicle Systems”, Int’l Conference on Robotics and Automation, 2004.

E. Klavins and R. M. Murray, “Distributed Computation for Cooperative Control”,

*IEEE Pervasive Computing*, 2004.