TICSync: Knowing When Things Happened

摘要：

Modern robotic systems are composed of many distributed processes sharing a common communications infrastructure. High bandwidth sensor data is often collected on one computer and served to many consumers. It is vital that every device on the network agrees on how time is measured. If not, sensor data may be at best inconsistent and at worst useless. Typical clocks in consumer grade PCs are highly inaccurate and temperature sensitive. We argue that traditional approaches to clock synchronization, such as the use of NTP are inappropriate in the robotics context. We present an extremely efficient algorithm for learning the mapping between distributed clocks, which typically achieves better than millisecond accuracy within just a few seconds. We also give a probabilistic analysis providing an upper-bound error estimate.

作者: Alastair Harrison Paul Newman

作者单位: Mobile Robotics Research Group,Department of Engineering Science,University of Oxford,OX1 3PJ,England

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 356-363

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）