ABSTRACT

Synchronization occurs when multiple parts of a system or network work together at the same time to complete a task. In centralized synchronization, robots send regular bursts of data to the rest of the wireless network, such as heading, position and sensor data, so the other robots can adjust to match. However, this method of synchronization has many problems regarding privacy and large data transfers, which complicates communication within the network. The goal of our project is to solve these problems by achieving decentralized synchronization between robotic systems with pulse-coupled oscillators (PCOs), which simplifies communication between robotic systems, reduces energy consumption, and reduces the chance of data loss and corruption. We compare four algorithms for PCO synchronization to determine which one is most effective and then use this information to implement a PCO protocol for synchronizing robotic heading.