Establish a globally consistent order of discrete events in distributed robotic systems

A fully distributed algorithm that established a globally consistent order of discrete events in a distributed robotic system (DRS) is presented. It is assumed that discrete events can be consistently identified, but robots may have inconsistent opinions on the chronological order of them. The execution of the algorithm on a robot consists of three conceptually concurrent tasks, of which two are based on distributed mutual exclusion (DME).<
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