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 language | English |
|---|---|
| Book series | Elsevier IFAC Publications / IFAC Proceedings series |
| Volume | 2009 |
| Pages (from-to) | 43-49 |
| ISSN | 1474-6670 |
| Publication status | Published - 2009 |
| Event | NetRob09, IFAC Workshop on Networked Robotics 2009 - Golden, United States Duration: 6 Oct 2009 → 8 Oct 2009 Conference number: 1 |
Conference
| Conference | NetRob09, IFAC Workshop on Networked Robotics 2009 |
|---|---|
| Number | 1 |
| Country/Territory | United States |
| City | Golden |
| Period | 06/10/2009 → 08/10/2009 |
Keywords
- Mobile robots, Clock synchronization, Wireless communication, Random processes, Markov Models, Integro-Differential equations, Optimization