A General Framework for Synchronizing a Team of Robots Under Communication Constraints

Document Type


Publication Date



Robot kinematics, Synchronization, Trajectory, Robustness, Collision avoidance, Surveillance

Organizational Units

Daniel Felix Ritchie School of Engineering and Computer Science, Computer Science


This paper addresses a synchronization problem that arises when a team of robots needs to communicate while repeatedly performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and moves along a previously defined closed trajectory. When two robots are close enough, a communication link may be established, allowing the robots to exchange information. The goal is to schedule the motions such that the entire system can be synchronized for maximum information exchange; that is, every pair of neighbors always visit the feasible communication link at the same time. An algorithm for scheduling the team of robots in this scenario is proposed and a robust framework that assures the synchronization of a large team of robots is presented. Simulations, experiments, and computational results demonstrate the applicability of the algorithm. The approach allows the design of fault-tolerant systems that can be used for multiple tasks, such as surveillance, area exploration, and searching for targets in hazardous environments, among others.

Publication Statement

Copyright held by author or publisher. User is responsible for all copyright compliance.

This document is currently not available here.