Distributed discrete-time coupled harmonic oscillators with application to synchronised motion coordination

In this paper, distributed discrete-time coupled harmonic oscillators are studied. Convergence conditions for synchronisation of the discrete-time coupled harmonic oscillators are given. The distributed discrete-time coupled harmonic oscillators are then used to design a control strategy for symmetric formations. The purpose of the control strategy is for groups of mobile robots to move in a synchronised manner with local interaction. Both simulation and experimental results on networked mobile robots are presented. Based on the results of both simulation and experimentation, this strategy is an effective method for synchronising the motions of multiple mobile robots.