This self-contained introduction to the distributed control of robotic networks offers a remarkable blend of computer science and control theory.

The book discusses numerous cooperative strategies for tasks like a consensus, rendezvous, connectivity maintenance, deployment, and boundary estimation as well as a wide range of tools for understanding coordination algorithms, evaluating their correctness, and measuring their complexity.

The unifying theme is a formal model for robotic networks that explicitly incorporates their communication, sensing, control, and processing capabilities — a model that in turn leads to a common formal language to describe and analyze coordination algorithms.