Arbitrary pattern formation by asynchronous, anonymous, oblivious robots

Flocchini, Paola; Prencipe, Giuseppe; Santoro, Nicola; Widmayer, Peter

doi:10.1016/j.tcs.2008.07.026

Cited by 187 publications

(140 citation statements)

References 26 publications

Supporting

Mentioning

140

Contrasting

Order By: Relevance

“…These systems can perform a variety of tasks including gathering [10], shape formation [15,24], and imitating the collective behavior of natural systems [6]; however, the individual robots typically have more powerful communication and processing capabilities than those we consider. Modular self-reconfigurable robotic systems focus on the motion planning and control of kinematic robots to achieve dynamic morphology [30], and metamorphic robots form a subclass of self-reconfiguring robots [9] that share some characteristics with our geometric amoebot model.…”

Section: Related Workmentioning

confidence: 99%

A Stochastic Approach to Shortcut Bridging in Programmable Matter

Arroyo

Cannon

Daymude

et al. 2017

Lecture Notes in Computer Science

View full text Add to dashboard Cite

In a self-organizing particle system, an abstraction of programmable matter, simple computational elements called particles with limited memory and communication self-organize to solve system-wide problems of movement, coordination, and configuration. In this paper, we consider stochastic, distributed, local, asynchronous algorithms for "shortcut bridging", in which particles self-assemble bridges over gaps that simultaneously balance minimizing the length and cost of the bridge. Army ants of the genus Eciton have been observed exhibiting a similar behavior in their foraging trails, dynamically adjusting their bridges to satisfy an efficiency tradeoff using local interactions [22]. Using techniques from Markov chain analysis, we rigorously analyze our algorithm, show it achieves a near-optimal balance between the competing factors of path length and bridge cost, and prove that it exhibits a dependence on the angle of the gap being "shortcut" similar to that of the ant bridges. We also present simulation results that qualitatively compare our algorithm with the army ant bridging behavior. Our work presents a plausible explanation of how convergence to globally optimal configurations can be achieved via local interactions by simple organisms (e.g., ants) with some limited computational power and access to random bits. The proposed algorithm demonstrates the robustness of the stochastic approach to algorithms for programmable matter, as it is a surprisingly simple extension of a stochastic algorithm for compression [5].

show abstract

Section: Related Workmentioning

confidence: 99%

A Stochastic Approach to Shortcut Bridging in Programmable Matter

Arroyo

Cannon

Daymude

et al. 2017

Lecture Notes in Computer Science

View full text Add to dashboard Cite

show abstract

“…The computational model we consider is the asynchronous CORDA model [8,13] in a discrete setting. Thus, when a robot takes a snapshot of the grid, it sees the other robots on nodes only.…”

Section: Model and Problem Specificationmentioning

confidence: 99%

“…, nm − 1} is different and represents one of the cells occupied by the robots. The three configurations on Figure 1, for example, are respectively denoted by the sorted sequences (5,10,11), (2,3,5), and (6,8,9).…”

Section: Classification Of Configurationsmentioning

confidence: 99%

“…For all other configurations (i.e. configurations of type 2, there is no problem since an algorithm can deterministically select one robot and make it move to reach a configuration of type 1; for example from configuration (0, 1,8), the system evolves to configuration (0, 1, 7). Figure 5 explains how the algorithm deals with the single configuration of type 3.…”

Section: Grid 3 ×mentioning

confidence: 99%

“…-The robot in 1 moves after the robot in 0 sees the current configuration. The system reaches (0, 2, 6) and then (0,1,8). -The robot in 0 sees the current configuration and moves before the robot in 1 moves.…”

Section: Grid 3 ×mentioning

confidence: 99%

See 2 more Smart Citations

Asynchronous Exclusive Perpetual Grid Exploration without Sense of Direction

Bonnet

Milani

Potop-Butucaru³

et al. 2011

Lecture Notes in Computer Science

View full text Add to dashboard Cite

Abstract. In this paper, we investigate the exclusive perpetual exploration of grid shaped networks using anonymous, oblivious and fully asynchronous robots. Our results hold for robots without sense of direction (i.e. they do not agree on a common North, nor do they agree on a common left and right ; furthermore, the "North" and "left" of each robot is decided by an adversary that schedules robots for execution, and may change between invocations of particular robots). We focus on the minimal number of robots that are necessary and sufficient to solve the problem in general grids. In more details, we prove that three deterministic robots are necessary and sufficient, provided that the size of the grid is n × m with 3 ≤ n ≤ m or n = 2 and m ≥ 4. Perhaps surprisingly, and unlike results for the exploration with stop problem (where grids are "easier" to explore and stop than rings with respect to the number of robots), exclusive perpetual exploration requires as many robots in the ring as in the grid. Furthermore, we propose a classification of configurations such that the space of configurations to be checked is drastically reduced. This pre-processing lays the bases for the automated verification of our algorithm for general grids as it permits to avoid combinatorial explosion.

show abstract

A survey on recent optimal techniques for securing unmanned aerial vehicles applications

Syed

Gupta

Alsamhi

et al. 2020

Trans Emerging Tel Tech

View full text Add to dashboard Cite

Unmanned aerial vehicles (UAVs) or Drones technology has a huge potential for supporting different efficient solutions for the smart applications in our world. The applications include smart things, smart transportation, smart cities, smart healthcare, smart personal care, smart house, smart industries, and so on. Due to the sensitive applications of UAVs, the security has become a major concern, and therefore, efficient techniques are required to protect captured data from hackers and the fictitious activities from illegitimate users. Machine learning (ML) techniques play a vital role in improving UAVs' security intelligently, while blockchain is recent technology for decentralized UAVs and security. Furthermore, watermarking guarantees digital media to be authenticated, protected, and copyright. Therefore, we provide a comprehensive survey of optimal techniques, which are used for securing UAVs applications in terms of blockchain, ML, and watermarking. Furthermore, we introduce each technique with the advantages and suitably used for securing UAVs collaboration applications. This survey contributes to a better understanding of the blockchain, ML, and watermarking techniques for securing UAVs and sheds new light on challenges and opportunities on subject applications.

show abstract

Arbitrary pattern formation by asynchronous, anonymous, oblivious robots

Cited by 187 publications

References 26 publications

A Stochastic Approach to Shortcut Bridging in Programmable Matter

A Stochastic Approach to Shortcut Bridging in Programmable Matter

Asynchronous Exclusive Perpetual Grid Exploration without Sense of Direction

A survey on recent optimal techniques for securing unmanned aerial vehicles applications

Contact Info

Product

Resources

About