Comment on ``Intermittent Synchronization in a Pair of Coupled Chaotic Pendula"

The main aim of this comment is to emphasize that the conditional Lyapunov exponents play an important role in distinguishing between intermittent and persistent synchronization, when the analytic criteria for asymptotic stability are not uniformly obeyed.Comment: 2 pages, RevTeX 4, 1 EPS figur

Enhancing Synchrony in Chaotic Oscillators by Dynamic Relaying

In a chain of mutually coupled oscillators, the coupling threshold for synchronization between the outermost identical oscillators decreases when a type of impurity (in terms of parameter mismatch) is introduced in the inner oscillator(s). The outer oscillators interact indirectly via dynamic relaying, mediated by the inner oscillator(s). We confirm this enhancing of critical coupling in the chaotic regimes of R\"ossler system in absence of coupling delay and in Mackey-Glass system with delay coupling. The enhancing effect is experimentally verified in electronic circuit of R\"ossler oscillators.Comment: 4 pages, 9 figure

Ensemble averageability in network spectra

The extreme eigenvalues of connectivity matrices govern the influence of the network structure on a number of network dynamical processes. A fundamental open question is whether the eigenvalues of large networks are well represented by ensemble averages. Here we investigate this question explicitly and validate the concept of ensemble averageability in random scale-free networks by showing that the ensemble distributions of extreme eigenvalues converge to peaked distributions as the system size increases. We discuss the significance of this result using synchronization and epidemic spreading as example processes.Comment: 4 pages, 4 figure

A Unified Approach to Attractor Reconstruction

In the analysis of complex, nonlinear time series, scientists in a variety of disciplines have relied on a time delayed embedding of their data, i.e. attractor reconstruction. The process has focused primarily on heuristic and empirical arguments for selection of the key embedding parameters, delay and embedding dimension. This approach has left several long-standing, but common problems unresolved in which the standard approaches produce inferior results or give no guidance at all. We view the current reconstruction process as unnecessarily broken into separate problems. We propose an alternative approach that views the problem of choosing all embedding parameters as being one and the same problem addressable using a single statistical test formulated directly from the reconstruction theorems. This allows for varying time delays appropriate to the data and simultaneously helps decide on embedding dimension. A second new statistic, undersampling, acts as a check against overly long time delays and overly large embedding dimension. Our approach is more flexible than those currently used, but is more directly connected with the mathematical requirements of embedding. In addition, the statistics developed guide the user by allowing optimization and warning when embedding parameters are chosen beyond what the data can support. We demonstrate our approach on uni- and multivariate data, data possessing multiple time scales, and chaotic data. This unified approach resolves all the main issues in attractor reconstruction.Comment: 22 pages, revised version as submitted to CHAOS. Manuscript is currently under review. 4 Figures, 31 reference

Synchronization of Time-Continuous Chaotic Oscillators

Considering a system of two coupled identical chaotic oscillators, the paper first establishes the conditions of transverse stability for the fully synchronized chaotic state. Periodic orbit threshold theory is applied to determine the bifurcations through which low-periodic orbits embedded in the fully synchronized state lose their transverse stability, and the appearance of globally and locally riddled basins of attraction is discussed, respectively, in terms of the subcritical, supercritical nature of the riddling bifurcations. We show how the introduction of a small parameter mismatch between the interacting chaotic oscillators causes a shift of the synchronization manifold. The presence of a coupling asymmetry is found to lead to further modifications of the destabilization process. Finally, the paper considers the problem of partial synchronization in a system of four coupled Rössler oscillators

Intermittent generalized synchronization in unidirectionally coupled chaotic oscillators

A new behavior type of unidirectionally coupled chaotic oscillators near the generalized synchronization transition has been detected. It has been shown that the generalized synchronization appearance is preceded by the intermitted behavior: close to threshold parameter value the coupled chaotic systems demonstrate the generalized synchronization most of the time, but there are time intervals during which the synchronized oscillations are interrupted by non-synchronous bursts. This type of the system behavior has been called intermitted generalized synchronization (IGS) by analogy with intermitted lag synchronization (ILS) [Phys. Rev. E \textbf{62}, 7497 (2000)].Comment: 8 pages, 5 figures, using epl.cls; published in Europhysics Letters. 70, 2 (2005) 169-17

Transition from anticipatory to lag synchronization via complete synchronization in time-delay systems

The existence of anticipatory, complete and lag synchronization in a single system having two different time-delays, that is feedback delay $\tau_1$ and coupling delay $\tau_2$, is identified. The transition from anticipatory to complete synchronization and from complete to lag synchronization as a function of coupling delay $\tau_2$ with suitable stability condition is discussed. The existence of anticipatory and lag synchronization is characterized both by the minimum of similarity function and the transition from on-off intermittency to periodic structure in laminar phase distribution.Comment: 14 Pages and 12 Figure

Synchronization and directed percolation in coupled map lattices

We study a synchronization mechanism, based on one-way coupling of all-or-nothing type, applied to coupled map lattices with several different local rules. By analyzing the metric and the topological distance between the two systems, we found two different regimes: a strong chaos phase in which the transition has a directed percolation character and a weak chaos phase in which the synchronization transition occurs abruptly. We are able to derive some analytical approximations for the location of the transition point and the critical properties of the system. We propose to use the characteristics of this transition as indicators of the spatial propagation of chaoticity.Comment: 12 pages + 12 figure

Priority-Based Distributed Coordination for Heterogeneous Multi-Robot Systems with Realistic Assumptions

A standing challenge in current intralogistics is to reliably, effectively, yet safely coordinate large-scale, heterogeneous multi-robot fleets without posing constraints on the infrastructure or unrealistic assumptions on robots. A centralized approach, proposed by some of the authors in prior work, allows to overcome these limitations with medium-scale fleets (i.e., tens of robots). With the aim of scaling to hundreds of robots, in this article we explore a decentralized variant of the same approach. The proposed framework maintains the key features of the original approach, namely, ensuring safety despite uncertainties on robot motions, and generality with respect to robot platforms, motion planners and controllers. We include considerations on liveness and report solutions to prevent or recover from deadlocks in specific situations. We validate the approach empirically in simulation with large, heterogeneous multi-robot fleets (with up to 100 robots) operating in both benchmark and realistic environments