Autonomous robotic swarms are envisioned for a variety of sensing applications in space exploration, search and rescue, and disaster management. An important capability of a swarm is sensing spatio-temporal processes such as radio wave propagation and seismic activities. The spa-tio-temporal properties of these processes dictate the required sensing position and time accuracy, as well as update rate. A dedicated wireless communication system needs to be jointly designed for swarm information exchange, self-localization, and sensing. In this article, we emphasize the role of time in a robotic swarm. We introduce the system ingredients and dive into realistic clock models. Clock models and channel access schemes decisively influence the swarm self-localization and synchronization accuracy, and consequently the swarm sensing performance. Finally, we discuss practical implementation aspects, introduce our developed swarm radio system, and give an outlook on a moon-analog exploration mission.

中文翻译：

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时间在机器人群中的作用：关于通信，本地化和传感的联合观点

可以设想在空间探索，搜索和救援以及灾难管理中，将各种机器人应用到自主机器人群中。群体的一项重要功能是感知时空过程，例如无线电波传播和地震活动。这些过程的时空特性决定了所需的感测位置和时间精度以及更新速率。需要共同设计专用的无线通信系统，以进行群体信息交换，自我定位和传感。在本文中，我们强调时间在机器人群体中的作用。我们介绍系统成分，并深入探讨现实的时钟模型。时钟模型和通道访问方案决定性地影响着群体的自定位和同步精度，进而影响着群体的感知性能。最后，