A Time Synchronization Protocol for Modular Robots
by Andre Naz, Benoiıt Piranda, Julien Bourgeois and Seth Copen Goldstein.
In this paper, we propose the Modular Robot
Time Protocol (MRTP), a network-wide time synchronization
protocol for modular robots. Our protocol achieves its performance
by combining several mechanisms: central time master
election, low-level time-stamping and clock skew compensation
using linear regression. We evaluate our protocol on the Blinky
Blocks hardware.
Experiments using Blinky blocks