Epidemic Synchronization in Robotic Swarms

Research output: Contribution to journalConference article in JournalResearchpeer-review


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.

Original languageEnglish
Book seriesElsevier IFAC Publications / IFAC Proceedings series
Pages (from-to)43-49
Publication statusPublished - 2009
EventNetRob09, IFAC Workshop on Networked Robotics 2009 - Golden, United States
Duration: 6 Oct 20098 Oct 2009
Conference number: 1


ConferenceNetRob09, IFAC Workshop on Networked Robotics 2009
Country/TerritoryUnited States


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

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