Abstract
Clock synchronization in swarms of networked mobile robots is
studied in a probabilistic, epidemic framework. In this setting
communication and synchonization is considered to be a randomized
process, taking place at unplanned instants of geographical
rendezvous between robots. In combination with a Markovian mobility
model the synchronization process yields overall evolutionary
dynamics for first and second conditional moments of synchronization
error given geographical position. The established dynamics assume
the shape of partial integro-differential equations and the swarm is
subsequently studied as an infinite-dimensional optimal controlproblem.
Illustrative numerical examples are given and commented.
| Originalsprog | Engelsk |
|---|---|
| Bogserie | Elsevier IFAC Publications / IFAC Proceedings series |
| Vol/bind | 2009 |
| Sider (fra-til) | 43-49 |
| ISSN | 1474-6670 |
| Status | Udgivet - 2009 |
| Begivenhed | NetRob09, IFAC Workshop on Networked Robotics 2009 - Golden, USA Varighed: 6 okt. 2009 → 8 okt. 2009 Konferencens nummer: 1 |
Konference
| Konference | NetRob09, IFAC Workshop on Networked Robotics 2009 |
|---|---|
| Nummer | 1 |
| Land/Område | USA |
| By | Golden |
| Periode | 06/10/2009 → 08/10/2009 |
Bibliografisk note
Titel:IFAC Workshop on Networked Robotics 2009
Undertitel:
NetRob09 Proceedings
Forlag:
Elsevier
ISBN (Elektronisk):
978-3-902661-53-1