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Time Synchronization - How the three robots use the same time basis Setup + Idea 1) Place the three robots in a box, shielding them from the light 2) Introduce light through a hole 3) Each of the three robots responds to the central computer declaring that they have received light - We make the sole assumption that each robot receives the light at the same time, but the messages may be received at different times (time delays of communication). Mark the received time of the message at the central processor. 4) Now, we know they are all on the same time scale. 5) When each detects a vibration, each sends a message to the central processor. Mark the received time. 6) The time delays can now be relatively calculated by looking at the time difference between the arrival of the vibration message with respect to the arrival of the "light received" message and comparing those intervals against each of the robots. |
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