An another one:
> **Time Synchronization in modular collaborative robots, _M-cobots_**
>
> A new generation of robot systems which are modular, flexible and safe for human-robot interaction are needed. Existing cobots seem to meet only the later and require a modular approach to improve their reconfigurability and interoperability. We propose a new sub-class of cobots named M-cobots which tackle these problems. In particular, we discuss the relevance of synchronization for these systems, analyze it and demonstrate how with a properly configured M-cobot, we are able to obtain a) distributed sub-microsecond clock synchronization accuracy among modules, b) timestamping accuracy of ROS 2.0 messages under 100 microseconds and c) millisecond-level end-to-end communication latencies, even when disturbed with networking overloads of up to 90 % of the network capacity.
Read the tech report at
https://arxiv.org/pdf/1809.07295.pdf
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