A 100-agent swarm syncs on 18.2% of the channel: weaker batteries broadcast less, and the 1 m clearance still holds
Swarm synchronization for green IoT no longer broadcasts state on a fixed cycle. ET-S3 ties each agent's trigger threshold to its remaining battery, so low-energy nodes transmit less, and a control-barrier-function quadratic program filters the consensus input for safety. In a simulation of 100 dynamic agents over 1000 synchronization cycles, cumulative payload was 3.35 MB, 18.2% of the 18.40 MB of periodic consensus, with a 0.0% safety violation rate and convergence in 138 steps.