Tight Bounds for Clock Synchronization

We present a novel clock synchronization algorithm and prove tight upper and lower bounds on the worst-case clock skew that may occur between any two participants in any given distributed system. More importantly, the worst-case clock skew between neighboring nodes is (asymptotically) at most a factor of two larger than the best possible bound. While previous results solely focused on the dependency of the skew bounds on the network diameter, we prove that our techniques are optimal also with respect to the maximum clock drift, the uncertainty in message delays, and the imposed bounds on the clock rates. The presented results all hold in a general model where both the clock drifts and the message delays may vary arbitrarily within pre-specified bounds. Furthermore, our algorithm exhibits a number of other highly desirable properties. First, the algorithm ensures that the clock values remain in an affine linear envelope of real time. A better worst-case bound on the accuracy with respect to real time cannot be achieved in the absence of an external timer. Second, the algorithm minimizes the number and size of messages that need to be exchanged in a given time period. Moreover, only a small number of bits must be stored locally for each neighbor. Finally, our algorithm can easily be adapted for a variety of other prominent synchronization models.