Time Synchronization Techniques in Wireless Network : A Survey
2016, INTERNATIONAL JOURNAL ONLINE OF SCIENCE
https://doi.org/10.24113/IJOSCIENCE.V2I9.110…
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Abstract
The time synchronization procedure is very important for power saving in wireless ad hoc network and method used by the synchronization that method chooses a particular node and gives priority for transmitting a signal to that node. All the Other nodes synchronize to the selected node according to Time Synchronization Function. Here increasing research focus on designing synchronization algorithms specifically for sensor networks. This paper look for reviews of time synchronization problem and the need for synchronization in sensor networks, then presents in detail time synchronization methods explicitly designed and proposed for sensor networks and AD-HOC networks.
Related papers
2010
The time synchronization is an important problem for wireless sensor networks. There has been many time synchronization methods proposed in the literature, such as. The purpose of them was to synchronize the whole network, which cost much time and energy. In this paper, an efficient time synchronization scheme for wireless sensor networks is proposed. According to the specific application purpose of the network, only a few nodes of the network are selected to synchronize to each other. Performance analyses and simulations are presented in this paper, and demonstrate that our proposed scheme has higher time-efficiency and energy-efficiency than the traditional schemes in the literature.
International Journal of Computer and Electrical Engineering, 2014
Existing time synchronization protocols for Wireless Sensor Networks (WSN) have already focused on lot of time synchronization issues like accuracy, energy efficiency, security and time synchronization itself etc for static wireless sensor networks but best of our knowledge time synchronization for mobile wireless sensor networks has not been fully explored yet, so there is need to design protocols that can assist to time synchronize mobile wireless sensor networks in a simple way to achieve better time synchronization accuracy.
IOSR Journal of Engineering, 2014
Time synchronization is an important aspect in Wireless Sensor Networks (WSN). They make wide use of synchronized time in many contexts like data fusion etc. Without synchronizing, the sensed data will lose valuable context. Existing time synchronization methods cannot be used with such wireless networks as at the time of their designing such networks were not foreseen. So either present synchronization techniques need to be extended to WSN or are to be approached in different way. While designing synchronizing algorithm, requirements of energy, cost, scope, scalability, lifetime of WSN should be kept in mind. In this paper different approach for time synchronization in sensor networks is presented. This paper proposes an improved algorithm used for WSN in fixed deployment scenario of nodes. The Proposed algorithm is compared with Reference-Broadcast Synchronization (RBS) synchronization technique. Simulation results and Performance analysis shows that compared with RBS synchronization algorithms, the proposed time synchronization algorithm takes shorter time for synchronizing whole network and is more energy efficient.
2011
The aim of this thesis was to study the time synchronization in wireless sensor networks which are based on standards NTP and IEEE1588. Time synchronization is timekeeping which requires the coordination of events to operate a system in unison. This can be compared to the conductor of an orchestra keeping the orchestra in time. Another purpose was then to compare the differences of three synchronization protocols.
IEEE Network, 2004
s advances in technology have enabled the development of tiny low-power devices capable of performing sensing and communication tasks, sensor networks have emerged and received the attention of many researchers. Sensor networks are a special type of ad hoc networks, where wireless devices (usually referred to as nodes in the network) get together and spontaneously form a network without the need for any infrastructure. Because of the lack of infrastructure (e.g., routers in traditional networks), nodes in an ad hoc network cooperate for communication by forwarding each other's packets for delivery from a source to its destination. This yields a multihop communication environment. Although they are a special type of ad hoc networks, sensor networks have their own characteristics, such as very limited energy sources, high density of node deployment, and cheap and unreliable sensor nodes. With these extra limiting factors for their operation, sensor networks are designed to perform complex tasks such as emergency applications, environment monitoring, information gathering in battlefields, and many other uses, connecting the physical world to the virtual world of computers.
airccse.org
___ Time synchronization is a critical piece of infrastructure for any distributed system. Wireless sensor networks have emerged as an important and promising research area in the recent years. Time synchronization is important for many sensor network applications that require very precise mapping of gathered sensor data with the time of the events, for example, in tracking and vehicular surveillance. It also plays an important role in energy conservation in MAC layer protocols. The paper studies different existing methods, protocols, significant time parameters (clock drift, clock speed, synchronization errors, and topologies) to achieve accurate synchronization in a sensor network. The studied Synchronization protocols include conventional time sync protocols (RBS, Timing-sync Protocol for Sensor Networks-TPSN, FTSP), and other application specific approaches such as all node-based approach, a diffusion-based method and group sync approaches aiming at providing network-wide time. The goal for writing this paper is to study most common existing time synchronization approaches and stress the need of a new class of secure-time synchronization protocol that is scalable, topology independent, fast convergent, energy efficient, less latent and less application dependent in a heterogeneous hostile environment. Our survey provides a valuable framework by which protocol designers can compare new and existing synchronization protocols from various metric discussed in the paper. So, we are hopeful that this paper will serve a complete one-stop investigation to study the characteristics of existing time synchronization protocols and its implementation mechanism in a Sensor network environment.
Computer Networks, 2005
Time synchronization may play a key role in wireless sensor networks to meet real-time and energy-saving requirements and improve data-fusion and multiplexing efficiency. In this paper, under given constraints of hardware and mathematical models, we have studied performance limitations of the time synchronization for wireless sensor networks in terms of synchronization accuracy. First, sources of synchronization errors have been identified and a mathematical model has been introduced to analyze time synchronization schemes. Second, error distributions and the accuracy limitations have been formulated according to different error-source parameters. Third, a lightweight protocol is proposed, which is capable of approaching the performance limit as well as suppressing the communication overheads. Our idea is based on the observation that there is synchronization-error correlation between nodes receiving the same sequence of time-synchronization packets. Finally the theoretical analyses have been validated by simulation results.
2010
Due to the recent innovations in the arena of wireless technologies, it is feasible to deploy inexpensive tiny disposable and low power devices throughout the physical space for the measurement of physical environments like temperature, pressure, humidity etc. These small devices are known as sensor nodes and their deployment is termed as wireless sensor network (WSN). Sensor nodes have resource constraints in terms of storage capacity, battery power and processing capabilities. Wireless sensor network was originally developed for military applications but later it has come for the public uses. Wireless sensor networks are useful for the military application, medical application, environmental monitoring, traffic control, industrial monitoring etc. All the proposed applications of wireless sensor networks involve monitoring sensor readings and communicating events to the other network nodes, or sinks. The deductions made during data fusion are sensitive to the time at which an event occurred at each node. These applications require partial or full time synchronization; therefore it is important that message exchanged by the sensor nodes for data fusion must be time stamped by each sensor's local clock. In this paper we survey various time synchronization protocols and compare quantitative and qualitative various synchronization protocols.
Analysis, 2010
Time synchronization is an important issue in wireless sensor networks. Many applications based on these WSNs assume local clocks at each sensor node that need to be synchronized to a common notion of time. Some intrinsic properties of sensor networks such as limited resources of energy, storage, computation, and bandwidth, combined with potentially high density of nodes make traditional synchronization methods unsuitable for these networks. Hence there has been an increasing research focus on designing synchronization schemes. This paper contains a survey, relative study and analysis of existing clock synchronization protocols for wireless sensor networks, based on a various factors that include precision, accuracy, cost, and complexity. The design considerations presented in this paper will help the designer in structuring a successful clock synchronization system. Specifically, the comparisons presented based on various factors will provide basic guidelines to the designer in integrating various solution features to create an efficient clock synchronization scheme for the application.
Wireless Sensor Network
Time synchronization is one of the important aspects in wireless sensor networks. Time synchronization assures that all the sensor nodes in wireless sensor network have the same clock time. There are various applications such as seismic study, military applications, pollution monitoring where sensor nodes require synchronized time. Time synchronization is mandatory for many wireless sensor networks protocols such as MAC protocols and also important for TDMA scheduling for proper duty cycle coordination. Time synchronization is a stimulating problem in wireless sensor networks because each node has its own local clock which keeps on varying due to variation in the oscillator frequency. The oscillator frequency is time varying due to ambient conditions which leads to re-synchronization of nodes time and again. This re-synchronization process is energy consuming whereas energy is constraints in WSN. This paper proposes a novel cluster based time synchronization technique for wireless sensor networks in which cluster head rotation is based on minimum clock offset. Simulation results based on energy analysis of the proposed model demonstrate that proposed novel cluster based time synchronization technique reduces the energy consumption and also the synchronization error compared with other existing protocols.
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Time Synchronization Techniques in Wireless Network : A Survey
Ravi Prakash Malviya
Depart of Electronics and Communication Engineering
Mittal Institute of Technology,
Abstract
The time synchronization procedure is very important for power saving in wireless ad hoc network and method used by the synchronization that method chooses a particular node and gives priority for transmitting a signal to that node. All the Other nodes synchronize to the selected node according to Time Synchronization Function. Here increasing research focus on designing synchronization algorithms specifically for sensor networks. This paper look for reviews of time synchronization problem and the need for synchronization in sensor networks, then presents in detail time synchronization methods explicitly designed and proposed for sensor networks and AD-HOC networks.
Key Words- Ad hoc networks, time synchronization, time process.
1. INTRODUCTION
Ad hoc networks [1] are networks of mobile wireless computing devices. They have limited range for communication in wireless technology nodes of the network form spontaneous connections when they are brought within the communication range of each other, providing a symmetrical link for communication so message exchange is possible in both directions. The limited communication range and the
Achint Chugh
Depart of Electronics and Communication Engineering
Mittal Institute of Technology
that is without infrastructure, such as fixed Base Station(BS) and Access Point(AP). Nodes can communicate each other such networks. However, most of the nodes that comprise ad hoc networks use a limited-capacity battery because of the nodes mobility. In order to maintain the network for a long time, efficient use of energy is essential. Among the many factors that consume energy in a mobile node, the energy cost for communication accounts for the largest proportion. Therefore, using an energy-efficient communication protocol can reduce energy consumption, and networks can be supported for a long time [2][3].
A time synchronization method is needed to perform power saving and protocols. One way to achieve time synchronization is through from the Global Positioning System (GPS)[4]. However, all nodes would need additional equipment, and would have to rely on GPS to obtain time information. So, it suffers high cost and energy consumption. As alternative time synchronization protocols have been proposed. These methods receive time information contained in a beacon signal, additional cost or energy is not needed. Because of the advantages
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of time synchronization using beacon signals, such protocol has been widely studied.
The most popular time synchronization technique is Timing Synchronization Function (TSF) in the IEEE 802.11 standard [5]. In the TSF algorithm, a node adopts timing information only when the received time information is faster than its own. The advantage of this method is a simple procedure, but it may encounter beacon contention problems. When the number of nodes is increased, the fastest node cannot transmit its beacon due to beacon contention. As a result, scalability problems occur. To solve the beacon contention problem, algorithms that give priority to fast time information nodes have been proposed. In one paper, Adaptive Timing Synchronization Procedure(ATSP) was proposed [6]. Similar to IEEE 802.11 TSF, ATSP adds the parameter that decides on the participation of the contention window. Using the parameter, a node that has fast timing has high priority to transmit a beacon, and slower timing nodes beacon transmission frequencies are reduced. However, ATSP still does not overcome the scalability problem, and the additional parameter determines the time synchronous convergence time and accuracy. Another study proposed Tiered Adaptive Timing Synchronization Procedure(TATSP) to improve the synchronization accuracy of ATSP and to reduce the synchronous convergence time [7]. A method was proposed involving fast timing nodes and slow timing nodes splitting into two groups, and quickly identifying a small set of fastest nodes and giving them higher priority to transmit beacons. These previously proposed algorithms only considered single-hop networks. When these are extended to multi-hop ad hoc networks, synchronization accuracy and
synchronous convergence time are still an issue because of reliance on a particular node. To overcome this problem, Automatic Self-time correcting Procedure(ASP) was proposed [8].
High priority was also given to fast timing nodes. But, when a slower node receives enough information to accomplish synchronization by itself, its beacon transmission priorities are increased. Many solutions have been proposed to overcome IEEE 802.11 TSFs problems through giving priority to fast timing node. In these methods, a long time is needed to check the timing order since time information is only received through the beacon signal when the fast timing node leaves.
Timing Synchronization Problem: We can understand the Timing synchronization by following problem: A person, e.g., Rohan, is a normal commuter. Rohan don’t like any late for work and wishes to always catch the train his wants. To achieve this, Rohan time that is available at the train station and adjusts his watch to show the same time. imperfections in 3 Rohan’s look, it does not measure time intervals accurately . Maintain synchronization with the time at the train station, Rohan must periodically synchronize. Using this example, time synchronization is more accurate the more often a local clock (i.e., John’s watch) is synchronized, But if that resource is unavailable, synchronization can only be achieved by communication between two or more entities, e.g." if Rohn and J only have access to personal times and are able to communicate through. In such a scenario, synchronization can be achieve if Rohn and were this to send Jane the reading on his watch, and J then adjusts her own watch based on either the time or the time offset
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between their clocks, too, periodic synchronization needed, since both Rohn’s and
2. TIMESYNCHRONIZATION
Distributed systems are the system, and for these system time is very important and time is the beigest issue. Every node of network should have internal clock of its own and the time can drift differently from one node to another for several reasons. In Mobile Ad-Hoc Networks, nodes are moving, involving various disconnections in the network over time or we can see, that there is not always ensurity that a communication is always possible between two nodes. Therefore, making one (or several) of these nodes a central time synchronization agent (as for NTP) is not suitable.
Most of the previous studies focus on mobile nodes do not address the problem of time synchronization between nodes. if communication protocols involve time they usually consider that time is synchronized by a global entity [9] [10] [11]. Even in this case, it is possible for a node to loose for an arbitrary time the connection with the global timing agent. Moreover, a large part of mobile robots and connected objects are not equipped with synchronization owing to energy, bandwidth, hardware and unstable connections constraints.
Three main approaches reduce time drift problem in distributed systems. The relative ordering orders events without time reference. In this scheme, communications between robots don’t contain any direct time reference (i.e., date or clock value). In the relative timing, nodes take into account the disparity of drift time from the others. In this scheme, communications between robots usually contain time deviation values (i.e., delta) instead of absolute dates.
Finally the global timing ensures that all clocks are synchronized by using a global timing agent (e.g., NTP) [12]. In this paper, we present three versions (i.e., one per synchronization mechanism) of a distributed collaborative system for a swarm of heterogeneous robots and we study their efficiency differences through a park cleaning scenario.
3. THE NEED FOR SYNCHRONIZATION IN SENSOR NNETWORKES
There are reasons for focus the synchronization problems in sensor networks. First, sensor nodes need to coordinate with their operations and collaborate to achieve a complex sensing task. And example is Data fusion for such coordination in which data collected at different nodes are aggregated into a meaningful result. For example, in a vehicle tracking application, Clearly, if the sensor nodes lack a common timescale (i.e., they are not synchronized) the estimate will be inaccurate. Second, synchronization can be used by power saving schemes to increase network lifetime. For example, sensors may sleep at appropriate times, and wake up when necessary.
Whenever using power-saving modes, the nodes should sleep and wake-up at coordinated times, because coordination is very important such that the radio receiver of a node is not turned off when there is some data directed to it. This requires a precise 4timingbetween sensor nodes. There are Scheduling algorithms like TDMA can be used to the transmission medium in the domain of time that for remove collisions and save energy. synchronization schemes are NTP or GPS but they are not good and will not fit for use in sensor networks because issues. NTP works well synchronizing the computers on the
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Internet, but is not designed with the energy and computation limitations of sensor nodes in mind.
Issue with GPS device is very expensive to attach on cheap sensor devices, and services of the GPS may not be available everywhere, may be inside the buildings or under the water. And in adversarial like environments, the GPS signals may not be trusted.
4. LITERATURE REVIEW
In paper [1] In this paper, they discussed previous algorithms on time synchronization method that chooses a particular node and gives priority to transmitting a beacon signal to that node. And rest of the node synchronize to the selected node according to methods like the IEEE 802.11 Time Synchronization Function. They conclude methods have problems in the accuracy in multi-hop networks. Paper shows new time synchronization algorithm. In which focus on nodes do not depend on a specific node, and they use all the received beacon signals and perform the time synchronization on their own. This paper concludes that They have improved upon the disadvantages of IEEE 802.11 TSF. Utilizing the time information of a particular node, if the number of nodes is increasing and a node moves out of network coverage, the accuracy of time synchronization is reduced, and it takes a long time. The TSPTA algorithm uses the time information through the received beacon signal instead of particular nodes information.
In paper [3]computing environments are based on ad hoc networks. The data can be sensed by good things which can then be combined to derive knowledge about the environment, which in turn enables the smart things to “react” intelligently to their environment. For this sensor
fusion, temporal relationships which can be ( X happened before Y ) and real-time issues ( X and Y happened within a certain time interval) play important role. physical time and clock synchronization such environments. The characteristics of sparse ad hoc networks, classical clock synchronization algorithms are not applicable in this setting. This paper focused on time synchronization scheme of that is appropriate for ad hoc networks. And then finally paper conclude that problem of physical time synchronization in sparse ad hoc networks giving reasons one is classical clock why synchronization algorithms failin this environment.
Paper [4] Many applications of sensor networks need local clocks of nodes of sensor that can be synchronized, requiring precision of degrees. Some intrinsic properties of sensor networks energy resources are limited, and storage, the computation, and the bandwidth, combined with potentially high density of nodes make traditional synchronization methods unsuitable for these networks. there is an increasing research focus on designing synchronization algorithms specifically for sensor networks. This paper survey reviews on the problem of time synchronization and the need for synchronization in sensor networks, then presents in detail the basic synchronization methods explicitly can designed and proposed for sensor networks. In this paper they have conclude that Two synchronization algorithms, RBS and TPSN, both report very high precisions, on the orders of few μ secs, though they use completely different approaches.
The[6, 9] offline algorithms presented that allow offline time synchronization, i.e., after the distributed computation is finished or after a
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certain amount of data has been collected. However, these offline algorithms assume a constant message delay and that the actual clock drift is a linear function in time and therefore only produce approximations.
Logical time algorithms such as [12,14] provide a solution for causal ordering of events, but they require that causal dependencies between event generating entities manifest themselves in a network message exchange between these entities. This assumption does not hold here, since we are talking about causal relationships in the real world.
There has been much work on physical clock synchronization in the past [10,13]. most of the proposed synchronization algorithms, including the well known Network Time Protocol [15] [16], rely on a network that is not partitioned and where it is always possible to produce good estimations for the message delay. As pointed out in section 3, this is not the case for sparse ad hoc networks. Furthermore, some of the algorithms do not have the correctness property pointed out in section 5, possibly resulting in claiming false properties on a set of time stamps.
5. CONCLUSION
As development of the technology grows, the need for quality of the service also gets grow. The routing protocol is most important in any communication. While talk about any wireless communication then energy efficiency also play critical role. To achieve the energy efficiency in any routing protocol, there is need of time synchronization. This article is all about the time synchronization along with the various works done in this field.
REFERENCES
[1] Yun-Jae Shin, Jung-Ryun Lee “Time Synchronization Protocol in Ad hoc network” IEEE .2012
[2] J. Hill, D. Culler, “A Wireless Embedded Sensor Architecture for System-Level Optimization”, Technical Report, U.C. Berkeley, 2001.
[3] J. Elson and D. Estrin, “Time Synchronization for Wireless Sensor Networks”, International Parallel and Distributed Processing Symposium (IPDPS 2001), Workshop on Parallel and Distributed Computing Issues in Wireless Networks and Mobile Computing, San Francisco, USA, April 2001.
[4] L. Lamport. Time, Clocks, and the Ordering of Events in a Distributed System. Communications of the ACM, 21(4):558-565, July 1978
[5] R Y. Xiao, Energy Saving Mechanism in the IEEE 802.16e Wireless MAN IEEE Communications letters, Vol9., No.7, pp.295297, 2005.
[6] Yoon, J.; , “A Synchronization of Secure Sensor terminal by GPS time information,” Software Engineering Research, ManagementApplications,2007. SERA 2007. 5th ACIS International Conference on , vol., no.,pp.149152, 20-22 Aug. 2007.
[7] IEEE Std 802.11-1999, Wireless LAN Medium Access Control (MAC)and Physical Layer (PHY) Specifications. LAN MAN Standards Committee of the IEEE Computer Society, 1999.
[8] Huang L., Lai T.-H., On the scalability of IEEE 802.11 ad hoc networks MobiHoc, pp.173?182, 2002.
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[9] Lai T.-H., Zhou D., Efficient and scalable IEEE 802.11 Ad Hoc Mode Timing Synchronization Function IEEE International Conference Advanced Information Networking and Applications, pp.318?323, 2003
[10] Sheu J.-P., Chao C.-M., and Sun C.-W., “A clock synchronization algorithm for multi-hop wireless ad hoc networks” IEEE International Conference on Distributed Computing Systems, pp.574-581, 2004
[11] S. Bregni, Clock Stability Characterization and Measurement in Telecommunications IEEE Trans. Instrumentation andMeasurement, vol. 46, no.6, pp. 1284-1294, Dec. 1997.
[12] D.W. Allan, Clock Characterization Tutorial Proc. 15th Ann. PreciseTime and Time Interval (PTTI 83) Applications and Planning Meeting, 1983 .
[13] Vincent Autefage, Damien Magoni “Comparison of Time Synchronization Techniques in
a Distributed Collaborative Swarm System”.
[14] L. Parker, “Alliance: an architecture for fault tolerant multi robot cooperation,” IEEE Robotics and Automation, vol. 14, no. 2, pp. 220-240, April 1998.
[15]“Task-oriented multi-robot learning in behavior-based systems,” in IEEE/RSJ Intelligent Robots and Systems, vol. 3, November 1996, pp. 1478-1487.
[16] S. Chaumette, R. Laplace, C. Mazel, R. Mirault, A. Dunand, Y. Lecoutre, and J.-N. Perbet, "Carus, an operational retasking application for a swarm of autonomous uavs:
First return on experience," in MILCOM, November 2011, pp. 2003-2010.
References (16)
- Yun-Jae Shin, Jung-Ryun Lee "Time Synchronization Protocol in Ad hoc network" IEEE .2012
- J. Hill, D. Culler, "A Wireless Embedded Sensor Architecture for System-Level Optimization", Technical Report, U.C. Berkeley, 2001.
- J. Elson and D. Estrin, "Time Synchronization for Wireless Sensor Networks", International Parallel and Distributed Processing Symposium (IPDPS 2001), Workshop on Parallel and Distributed Computing Issues in Wireless Networks and Mobile Computing, San Francisco, USA, April 2001.
- L. Lamport. Time, Clocks, and the Ordering of Events in a Distributed System. Communications of the ACM, 21(4):558-565, July 1978
- R Y. Xiao, Energy Saving Mechanism in the IEEE 802.16e Wireless MAN IEEE Communications letters, Vol9., No.7, pp.295- 297, 2005.
- Yoon, J.; , "A Synchronization of Secure Sensor terminal by GPS time information," Software Engineering Research, Management- Applications,2007. SERA 2007. 5th ACIS International Conference on , vol., no.,pp.149- 152, 20-22 Aug. 2007.
- IEEE Std 802.11-1999, Wireless LAN Medium Access Control (MAC)and Physical Layer (PHY) Specifications. LAN MAN Standards Committee of the IEEE Computer Society, 1999.
- Huang L., Lai T.-H., On the scalability of IEEE 802.11 ad hoc networks MobiHoc, pp.173?182, 2002.
- Lai T.-H., Zhou D., Efficient and scalable IEEE 802.11 Ad Hoc Mode Timing Synchronization Function IEEE International Conference Advanced Information Networking and Applications, pp.318?323, 2003
- Sheu J.-P., Chao C.-M., and Sun C.-W., "A clock synchronization algorithm for multi-hop wireless ad hoc networks" IEEE International Conference on Distributed Computing Systems, pp.574-581, 2004
- S. Bregni, Clock Stability Characterization and Measurement in Telecommunications IEEE Trans. Instrumentation andMeasurement, vol. 46, no.6, pp. 1284-1294, Dec. 1997.
- D.W. Allan, Clock Characterization Tutorial Proc. 15th Ann. PreciseTime and Time Interval (PTTI 83) Applications and Planning Meeting,1983.
- Vincent Autefage, Damien Magoni "Comparison of Time Synchronization Techniques in a Distributed Collaborative Swarm System".
- L. Parker, "Alliance: an architecture for fault tolerant multi robot cooperation," IEEE Robotics and Automation, vol. 14, no. 2, pp. 220-240, April 1998.
- "Task-oriented multi-robot learning in behavior-based systems," in IEEE/RSJ Intelligent Robots and Systems, vol. 3, November 1996, pp. 1478-1487.
- S. Chaumette, R. Laplace, C. Mazel, R. Mirault, A. Dunand, Y. Lecoutre, and J.-N. Perbet, "Carus, an operational retasking application for a swarm of autonomous uavs: First return on experience," in MILCOM, November 2011, pp. 2003-2010.