Epidemic Synchronization in Robotic Swarms

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Abstrakt

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

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