Summary
2023
Session Number:A4L-1
Session:
Number:A4L-11
Experimental Investigation of Synchronization in Teams of Moving Chaotic Robots
Tomaselli Cinzia, Guastella Calogero Dario, Muscato Giovanni, Minati Ludovico, Frasca Mattia, Gambuzza Valentina Lucia,
pp.149-149
Publication Date:2023-09-21
Online ISSN:2188-5079
Summary:
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.