# Directed Cooperation of Multi-Agent Systems

#### Introduction of Distributed Algorithms for Cooperative Control of Multi-Agent Systems over Directed Graphs

### Kai Cai (cai@omu.ac.jp)

### Zhiyun Lin (linzy@sustech.edu.cn)

### Kindle Direct Publishing (ISBN: 9798372563322)

### Amazon link

### Table of Content

**Front matter (book information, preface, table of content)**

**Chapter 1 Graphs and Laplacian Matrices** [sample] [slides]

```
1.1 Directed graphs
1.2 Connectivity of digraphs
1.3 Matrices of digraphs
1.4 Standard Laplacian Matrices
1.5 Complex Laplacian Matrices
1.6 Signed Laplacian Matrices
1.7 Notes and References
```

**Chapter 2 Averaging** [sample]

```
2.1 Problem Statement
2.2 Distributed Algorithm
2.3 Convergence Result
2.4 Parameter Bound and Convergence Speed
2.5 Simulation Examples
2.6 Notes and References
```

**Chapter 3 Optimization** [sample]

```
3.1 Problem Statement
3.2 Distributed Algorithm
3.3 Convergence Result
3.4 Distributed Resource Allocation
3.5 Simulation Examples
3.6 Notes and References
3.7 Appendix: Convex Optimization
```

**Chapter 4 Consensus** [sample] [slides]

```
4.1 Problem Statement
4.2 Distributed Algorithm
4.3 Convergence Result
4.4 Simulation Examples
4.5 Notes and References
```

**Chapter 5 Synchronization** [sample]

```
5.1 Problem Statement
5.2 Distributed Algorithm
5.3 Convergence Result
5.4 Simulation Examples
5.5 Notes and References
5.6 Appendix: Linear Systems and Feedback Control
```

**Chapter 6 Similar Formation in Two-Dimensional Space** [sample] [slides]

```
6.1 Problem Statement
6.2 Distributed Algorithm
6.3 Convergence Result
6.4 Simulation Examples
6.5 Notes and References
```

**Chapter 7 Localization in Two-Dimensional Space** [sample]

```
7.1 Problem Statement
7.2 Distributed Algorithm
7.3 Convergence Result
7.4 Simulation Examples
7.5 Notes and References
```

**Chapter 8 Affine Formation in Arbitrary Dimensional Space** [sample] [slides]

```
8.1 Problem Statement
8.2 Distributed Algorithm
8.3 Convergence Result
8.4 Simulation Examples
8.5 Notes and References
```

**Chapter 9 Localization in Arbitrary Dimensional Space** [sample]

```
9.1 Problem Statement
9.2 Distributed Algorithm
9.3 Convergence Result
9.4 Simulation Examples
9.5 Notes and References
```

**Back matter (bibliography, index)**