Epidemic Synchronization in Robotic Swarms

Publikation: Bidrag til tidsskriftKonferenceartikel i tidsskriftForskningpeer review

Resumé

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.

OriginalsprogEngelsk
BogserieElsevier IFAC Publications / IFAC Proceedings series
Vol/bind2009
Sider (fra-til)43-49
ISSN1474-6670
StatusUdgivet - 2009
BegivenhedNetRob09, IFAC Workshop on Networked Robotics 2009 - Golden, USA
Varighed: 6 okt. 20098 okt. 2009
Konferencens nummer: 1

Konference

KonferenceNetRob09, IFAC Workshop on Networked Robotics 2009
Nummer1
LandUSA
ByGolden
Periode06/10/200908/10/2009

Bibliografisk note

Titel:
IFAC Workshop on Networked Robotics 2009

Undertitel:
NetRob09 Proceedings

Forlag:
Elsevier

ISBN (Elektronisk):
978-3-902661-53-1

Emneord

    Citer dette

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    title = "Epidemic Synchronization in Robotic Swarms",
    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.",
    keywords = "Mobile robots, Clock synchronization, Wireless communication, Random processes, Markov Models, Integro-Differential equations, Optimization",
    author = "Henrik Schi{\o}ler and Nielsen, {Jens Frederik Dalsgaard} and Ngo, {Trung Dung}",
    note = "Titel: IFAC Workshop on Networked Robotics 2009 Undertitel: NetRob09 Proceedings Forlag: Elsevier ISBN (Elektronisk): 978-3-902661-53-1",
    year = "2009",
    language = "English",
    volume = "2009",
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    }

    Epidemic Synchronization in Robotic Swarms. / Schiøler, Henrik; Nielsen, Jens Frederik Dalsgaard; Ngo, Trung Dung.

    I: Elsevier IFAC Publications / IFAC Proceedings series, Bind 2009, 2009, s. 43-49.

    Publikation: Bidrag til tidsskriftKonferenceartikel i tidsskriftForskningpeer review

    TY - GEN

    T1 - Epidemic Synchronization in Robotic Swarms

    AU - Schiøler, Henrik

    AU - Nielsen, Jens Frederik Dalsgaard

    AU - Ngo, Trung Dung

    N1 - Titel: IFAC Workshop on Networked Robotics 2009 Undertitel: NetRob09 Proceedings Forlag: Elsevier ISBN (Elektronisk): 978-3-902661-53-1

    PY - 2009

    Y1 - 2009

    N2 - 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.

    AB - 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.

    KW - Mobile robots, Clock synchronization, Wireless communication, Random processes, Markov Models, Integro-Differential equations, Optimization

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    JO - I F A C Workshop Series

    JF - I F A C Workshop Series

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