Decentralized Controlled Robotics using Pulse Coupled Oscillators
Christopher Wisnewski, Edward Bear, Daniel Mulqueen · 2018
The objective of this document is to discuss the concept of pulse-coupled synchronization, to explore the concept of localization, and how it would implement into it. Pulse coupled oscillation is a concept that implements decentralized synchronization in order to bring multiple nodes to a coordinated heading. This pulse coupling concept is used in conjunction with localization to not only coordinate multiple headings, but to also allow for decentralized cooperative control in a swarm robot scenario.Due to limitations with the current microcontroller, a more reliable external circuit had to be developed. In parallel with the localization and pulse-coupled synchronization concepts, a reliable mathematical way of determining the magnitude of sound waves between a robot and a sound source was determined.