Epidemic Synchronization in Robotic Swarms

Research output: Contribution to journalConference article in JournalResearchpeer-review

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.

Original languageEnglish
Book seriesElsevier IFAC Publications / IFAC Proceedings series
Volume2009
Pages (from-to)43-49
ISSN1474-6670
Publication statusPublished - 2009
EventNetRob09, IFAC Workshop on Networked Robotics 2009 - Golden, United States
Duration: 6 Oct 20098 Oct 2009
Conference number: 1

Conference

ConferenceNetRob09, IFAC Workshop on Networked Robotics 2009
Number1
CountryUnited States
CityGolden
Period06/10/200908/10/2009

Keywords

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

Cite this

@inproceedings{c71bd930b32011dea179000ea68e967b,
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",
pages = "43--49",
journal = "I F A C Workshop Series",
issn = "1474-6670",
publisher = "Elsevier",

}

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

In: Elsevier IFAC Publications / IFAC Proceedings series, Vol. 2009, 2009, p. 43-49.

Research output: Contribution to journalConference article in JournalResearchpeer-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

M3 - Conference article in Journal

VL - 2009

SP - 43

EP - 49

JO - I F A C Workshop Series

JF - I F A C Workshop Series

SN - 1474-6670

ER -