Kai Cao

With the help of a Voronoi diagram, this book systematically discusses how to solve the core cooperative control problem in a multi-robot system. From basic theory to cutting-edge applications, the book provides a comprehensive overview of the subject matter, offering readers a rigorous and practical knowledge system. Central to this book's contribution is its transformation of centroidal Voronoi tessellations (CVT) theory into innovative multi-robot control algorithms. The effectiveness and superiority of these algorithms are verified through numerous simulations and real-environment experiments. The book demonstrates the deep integration of mathematical geometry and robotics, offering universal solutions for swarm intelligence in complex environments. It serves as an authoritative guide, bridging the gap between theoretical geometry and robotics engineering practice. This book will be invaluable to scholars and students of robotics, automation, control engineering, and computer science.

Based on highly detailed field investigations and test data from research on 98 different remnant basins, tectonic settings and lithostratigraphic sequences, this book describes the 4-stage evolution of the tectonic lithofacies paleogeography of the Qinghai-Tibetan Plateau, including Paleocene-Eocene, Oligocene, Miocene and Pliocene. It also discusses the contact relationship between the strata, the tectonic-lithofacies paleogeography evolution in the Cenozoic and their response to the tectonic uplift of the plateau. The continuous uplift and intensive intra-continental deformation during each turning point in the plateau divided the originally large sedimentary basins into numerous smaller ones filled with shrank of lacustrine-facies deposition and increased boulderstone accumulation, which indicates a response to the overall uplift of the plateau. Five major uplift events, which happened in 58-53 Ma, 45-30 Ma, 25-20 Ma, 13-7 Ma and since 5 Ma, respectively were identified. The paleogeographic configurations of the Tibetan Plateau turned over during the late Miocene, with high contours in the east during the pre-Miocene switching to the west after the Late Miocene