  Synchronization and desynchronization in networks is a highly studied topic
in many electrical systems, but there is a distinct lack of research on this
topic with respect to robotics. Creating an effective decentralized
synchronization algorithm for a robotic network would allow multiple robots to
work together to achieve a task and would be able to adapt to the addition or
loss of robots in real-time. The purpose of this study is to improve algorithms
implemented developed by the authors for this purpose and experimentally
evaluate these methods. The most effective algorithm for synchronization and
desynchronization found in a former study were modified to improve testing and
vary its methods of calculation. A multi-robot platform composed of multiple
Roomba robots was used in the experimental study. Observation of data showed
how adjusting parameters of the algorithms affected both the time to reach a
desired state of synchronization or desynchronization and how the network
maintained this state. Testing three different methods on each algorithm showed
differing results. Future work in cooperative robotics will likely see success
using these algorithms to accomplish a variety of tasks.
