This paper addresses the clock synchronization problem in a wireless sensor network (WSN) and proposes a distributed solution that consists of a form of consensus, where agents are able to exchange data representing intervals or sets. The solution is based on a centralized algorithm for clock synchronization, proposed by Marzullo, that determines the smallest interval that is in common with the maximum number of measured interval. We first show how to convert such an algorithm into a problem involving only operations on sets, and then we convert it into a set

10aEmbedded Control10aRobotics1 aFagiolini, A1 aMartini, S1 aBicchi, A. uhttp://www.centropiaggio.unipi.it/publications/set-valued-consensus-distributed-clock-synchronization.html