Synchronization on a segment without localization: Algorithm and applications

Hua Wang, Yi Guo

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

5 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages3441-3446
Number of pages6
DOIs
StatePublished - 11 Dec 2009
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
Duration: 11 Oct 200915 Oct 2009

Publication series

Name2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Conference

Conference2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Country/TerritoryUnited States
CitySt. Louis, MO
Period11/10/0915/10/09

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