Synchronization on a segment without localization: algorithm and applications

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.