TICSync: Knowing when things happened

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.