Consistency in replicated continuous interactive media
CSCW '00 Proceedings of the 2000 ACM conference on Computer supported cooperative work
Coordinated control for highly reconfigurable systems
HSCC'05 Proceedings of the 8th international conference on Hybrid Systems: computation and control
Control in printing systems: modular reconfigurable media paths
ACC'09 Proceedings of the 2009 conference on American Control Conference
On-line planning and scheduling: an application to controlling modular printers
Journal of Artificial Intelligence Research
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As engineered systems that have traditionally been controlled centrally become more modular, distributed, and autonomous, techniques are needed to maintain control coordination among independent elements, often across a network with delays and bandwidth limitations. In particular, manufacturing systems may require tight coordination, or synchronization, among components acting on the same physical object. This paper addresses the problem of controller synchronization in such a system. We present an implementation of exact controller synchronization for independent controllers in a highly modular printing domain. Our approach, which allows networked controllers to join and leave a task dynamically, has produced excellent results on a high-speed printer prototype.