Decentralized synchronization of multiple agents

A method, comprising:

• receiving, at a first distributed oscillator of a first agent in a multi-agent system, a set of state values for one or more second distributed oscillators of respective second agents in the multi-agent system;
• computing a set of error values for the first distributed oscillator based on a current set of state values for the first distributed oscillator and the set of state values for the second distributed oscillators, wherein each error value corresponds to a particular state value in the current set of state values and is based on respective differences between the particular state value and state values for the second distributed oscillators corresponding to the particular state value;
• computing a new set of state values for the first distributed oscillator based on the set of error values and the current set of state values for the first distributed oscillator;
• and
• transmitting the new set of state values for the first distributed oscillator to the second distributed oscillators.

A multi-agent system, comprising:

• a plurality of agents communicably coupled to at least one other agent in the multi-agent system, wherein each agent comprises a local distributed oscillator to:
• obtain first and second state values for each distributed oscillator of the other agents in the multi-agent system, wherein the first state values correspond to a first local state value of the distributed oscillator, and the second state values correspond to a second local state value of the distributed oscillator;
• compute a first error value based on the first local state value and the first state values for the distributed oscillators of the other agents in the multi-agent system;
• compute a second error value based on the second local state value and the second state values for the distributed oscillators of the other agents in the multi-agent system;
• compute a new first local state value for the distributed oscillator based on the first error value, the first local state value, and the second local state value;
• compute a new second state value for the distributed oscillator based on the second error value, the first local state value, and the second local state value;
• and
• transmit the new first local state value and the new second local state value to the distributed oscillators of the other agents in the multi-agent system.