Experimental Investigation of Synchronization in Teams of Moving Chaotic Robots

DOI

抄録

In this work we investigate synchronization of chaotic oscillators associated to mobile agents via an experimental setup that we have realized using a team of Elisa-3 robots. We consider a setup where agents move as independent random walkers, and, when in the proximity of other units, exchange information on the state variables of the associated chaotic oscillators. We exploit the sensors equipped on the robots, in particular IR sensors, to enable local communication among robots and realize a fully decentralized and distributed control law for synchronization. Here, synchronous dynamics emerge from the interactions among oscillators conveyed through this local communication system, under given conditions on the characteristic parameters of agent motion, such as their density and speed, and on the system dynamics, such as the coupling gain. We contrast our results with a theoretical analysis based on the system master stability function and show that the mismatches and non-idealities of the system do not hamper synchronization of all units.

収録刊行物

  • IEICE Proceeding Series

    IEICE Proceeding Series 76 149-149, 2023-09-21

    The Institute of Electronics, Information and Communication Engineers

キーワード

詳細情報 詳細情報について

  • CRID
    1390860797238033792
  • DOI
    10.34385/proc.76.a4l-11
  • ISSN
    21885079
  • 本文言語コード
    en
  • データソース種別
    • JaLC
  • 抄録ライセンスフラグ
    使用不可

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