Synchronous robotic networks and complexity of control and communication   laws
  This paper proposes a formal model for a network of robotic agents that move and communicate. Building on concepts from distributed computation, robotics and control theory, we define notions of robotic network, control and communication law, coordination task, and time and communication complexity. We then analyze a number of basic motion coordination algorithms such as pursuit, rendezvous and deployment. 
Sonia Martinez and Francesco Bullo and Jorge Cortes and Emilio   Frazzoli