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The Controller Area Network (CAN) protocol is widely employed in the development of distributed embedded systems. Building on the CAN protocol, previous studies have illustrated how “Shared-Clock” (S-C) algorithms can be used in conjunction with off-the-shelf microcontrollers to create high-reliability distributed systems at low cost. In such studies, it has generally been assumed that S-C designs...
We present a complexity measure for studying the structural complexity of multi-agent robot formations. We base this measure on the total information flow in the system, which is due to sensory perception and communication among agents. We show that from an information theoretic point of view, perception and communication are fundamentally the same. We show how the information flows depends on different...
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