TY - GEN
T1 - Synchronization on a segment without localization
T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
AU - Wang, Hua
AU - Guo, Yi
PY - 2009/12/11
Y1 - 2009/12/11
N2 - We study the multi-robot synchronization on a segment. The goal is for each robot to move along a subsegment of equal length in equal time interval with potential impacts. To achieve the synchronization, we propose a decentralized algorithm by designing impact law, which does not depend on the position of the robot, but on the time information. Specifically, "the time interval between two consecutive impacts" is exchanged when the robots meet. We also show how to apply the synchronization algorithm to a planar patrolling problem. Simulation results show the feasibility and robustness of our algorithm.
AB - We study the multi-robot synchronization on a segment. The goal is for each robot to move along a subsegment of equal length in equal time interval with potential impacts. To achieve the synchronization, we propose a decentralized algorithm by designing impact law, which does not depend on the position of the robot, but on the time information. Specifically, "the time interval between two consecutive impacts" is exchanged when the robots meet. We also show how to apply the synchronization algorithm to a planar patrolling problem. Simulation results show the feasibility and robustness of our algorithm.
UR - http://www.scopus.com/inward/record.url?scp=76249105256&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=76249105256&partnerID=8YFLogxK
U2 - 10.1109/IROS.2009.5354283
DO - 10.1109/IROS.2009.5354283
M3 - Conference contribution
AN - SCOPUS:76249105256
SN - 9781424438044
T3 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
SP - 3441
EP - 3446
BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Y2 - 11 October 2009 through 15 October 2009
ER -