| Summary: | This paper deals with the synchronization of Mobile Smart Objects (MSOs). Today, this scenario is becoming typical in Industrial IoT applications due to the plethora of MSOs available as robots, drones and wearables, equipped by sensors making them measurement instruments cooperating in distributed measurement systems. In this context, the synchronization accuracy is directly tied with the accuracy of the performed measurements. In hierarchical synchronization approaches, the presence of an MSO makes the network topology time varying, and this could prevent the synchronization of the whole network. Peer to peer approaches do not need node hierarchy to synchronize but could not converge to a common sense of time. To overcome these challenges, this paper proposes a consensus-based approach for which the convergence to a common sense of time is here demonstrated. The proposal deploys the MSO to bring the common sense of time from an SO to another, establishing new paths among SOs. The new paths are temporary and depend on the MSO’s route. In the paper, the influence of the MSO’s route on the synchronization accuracy <i>σ</i> and the time interval to synchronize all the SOs ∆<i><sub>TIS</sub></i> is investigated, also. The mathematical proof, the simulations and the experimental tests confirm that the MSO can reduce both the values of <i>σ</i> and ∆<i><sub>TIS</sub></i>, because the new connections introduced by the MSO can boost the exchange of information among SOs. Consequently, the criteria to a priori select the route ameliorating <i>σ</i> and ∆<i><sub>TIS</sub></i> values are proposed.
|
|---|
