A randomized linear algorithm for clock synchronization in multi-agent systems

Abstract

Abstract-In this paper a randomized linear protocol for time synchronization of clocks in a multi-agent scenario is considered. Clocks are allowed to have different offsets and different rates, and they communicate through an asymmetric broadcast protocol. The contribution of this paper is twofold. It is first shown that, under very mild conditions on the communication graph, it is possible to tune a protocol parameter in such a way that synchronization is achieved in mean-square. Then, via numerical simulations, the proposed strategy is compared with other fully distributed strategies recently proposed in the literature. While being slightly slower to reach the asymptotic synchronization, the proposed strategy significantly outperforms the other strategies in terms of robustness against process and measurement noises and time-varying clock drifts.

Clock Synchronization Over Networks: Identifiability of the Sawtooth Model

“…In particular, if increasing the sample size tends to reduce the segment at the left of the non-linearity without any sample, i.e., ǫ + → 0 when N → +∞, the size of the changes in α and γ that cannot be distinguished in the data would decrease with N , making the model identifiable in an asymptotic regime, or at least invalidating our proof of non-identifiability. In particular, if we consider elements of the vector (15), µ θ n , as a sequence, we obtain what is known in dynamical systems as the orbit of a rotation of the circle. Then, if β ∈ R \ Q we have that the orbit is minimal [29, ch.…”

“…ultra-wideband (UWB) pulses, increasing both the angular and depth resolutions of the captured images, iii) in wireless sensor networks [12], [13], synchronization is critical to datafusion, channel-sharing, coordinated scheduling [14], [15], and distributed control [2] and iv) in distributed database solutions that provide external consistency, clock synchronization accuracy regulates latency, throughput, and performance [5].…”

A Filter‐based Clock Synchronization Protocol for Wireless Sensor Networks

“…We classify consensus-based synchronization algorithms into two categories: one is synchronous protocol with pseudo-synchronous implementation, e.g. [13][14][15][16][17]; the other is asynchronous protocol, also known as gossip-based protocol, e.g. [18][19][20][21][22].…”

“…Based upon proportional-integral controller, [16] comes up with an on-line adaptive strategy for the control parameters of the integral gain which could improve both steady state error and scalability. Reference [17] gives further analysis of the convergence result of [15] under three different communication scenarios: broadcast communication corresponding with pseudo-synchronous implementation, gossip communication corresponding with asynchronous implementation and hierarchical communication in wireless sensor networks.…”

Distributed average tracking for multiple signals generated by linear dynamical systems: An edge-based framework

“…In the past two decades, there have been lots of interests in the distributed cooperative control [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], and [13], for multi-agent systems due to its potential applications in formation flying, path planning and so forth. Besides, the clock synchronization problems were also discussed in [31,32,33,34,35], which are very important to design distributed algorithms. Distributed average tracking, as a generalization of consensus and cooperative tracking problems, has received increasing attentions and been applied in many different perspectives, such as distributed sensor networks [14], [15] and distributed coordination [16], [17].…”