Collisionless Gathering of Robots with an Extent

Cord-Landwehr, Andreas; Degener, Bastian; Fischer, Matthias; Hüllmann, Martina; Kempkes, Barbara; Klaas, Alexander; Kling, Peter; Kurras, Sven; Märtens, Marcus; Heide, Friedhelm Meyer auf der; Raupach, Christoph; Swierkot, Kamil; Warner, Daniel J.; Weddemann, Christoph; Wonisch, Daniel

doi:10.1007/978-3-642-18381-2_15

Cited by 32 publications

(15 citation statements)

References 17 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…They are located on the Euclidean plane R 2 and cannot overlap each other. In contrast to our work, the goal in [6] is not to form a geometric shape, but to gather the robots in an area which is as small as possible. The coordinates of the center of this area, called the gathering point, as well as its own coordinates, are known to each robot.…”

Section: B Related Workmentioning

confidence: 92%

See 1 more Smart Citation

Self-organizing Particle Systems

Drees

Hüllmann

Koutsopoulos

et al. 2012

2012 IEEE 26th International Parallel and Distributed Processing Symposium

View full text Add to dashboard Cite

Abstract-Nanoparticles are getting more and more in the focus of the scientific community since the potential for the development of very small particles interacting with each other and completing medical and other tasks is getting bigger year by year. In this work we introduce a distributed local algorithm for arranging a set of nanoparticles on the discrete plane into specific geometric shapes, for instance a rectangle. The concept of a particle we use can be seen as a simple mobile robot with the following restrictions: it can only view the state of robots it is physically connected to, is anonymous, has only a constant size memory, can only move by using other particles as an anchor point on which it pulls itself alongside, and it operates in Look-ComputeMove cycles. The main result of this work is the presentation of a random distributed local algorithm which transforms any given connected set of particles into a particular geometric shape. As an example we provide a version of this algorithm for forming a rectangle with an arbitrary predefined aspect ratio. To the best of our knowledge this is the first work that considers arrangement problems for these types of robots.

show abstract

Section: B Related Workmentioning

confidence: 92%

“…A more realistic model for the size of robots is given in [6]. Each robot is imagined as a sphere with diameter 1.…”

Section: B Related Workmentioning

confidence: 99%

Self-organizing Particle Systems

Drees

Hüllmann

Koutsopoulos

et al. 2012

2012 IEEE 26th International Parallel and Distributed Processing Symposium

View full text Add to dashboard Cite

show abstract

“…Thus, this approach cannot be used to solve the gathering problem for more than four fat robots. Gathering any number of fat robots have been investigated by many recent research works [11,8,1]. However, these solutions are for synchronous robots.…”

Section: Earlier Workmentioning

confidence: 99%

Leader election and gathering for asynchronous fat robots without common chirality

Chaudhuri

Mukhopadhyaya

2015

Journal of Discrete Algorithms

View full text Add to dashboard Cite

This paper proposes a deterministic gathering algorithm for n ≥ 5 autonomous, homogeneous, asynchronous, oblivious unit disc robots (fat robots). The robots do not have common coordinate system and chirality. A robot can sense or observe its surroundings by collecting information about the positions of all the robots. Based on this information, they compute their destinations for moving and move there. Initially, the robots are stationary and separated. Robots are assumed to be transparent but solid. The algorithm for gathering is designed in such a way that the robots do not collide. In order to avoid collision we do not allow all the robots to move at a time. A unique robot, called leader is elected to move to its destination. No other robot moves till the leader reaches its destination. When the leader reaches its destination, another leader is selected from the remaining robots. However, leader election may not be possible in an arbitrary configuration. In this paper, we characterize all geometric configurations where leader election is possible and present an algorithm for leader election in such a case. An important property of our leader election algorithm is that it is possible to elect a leader from the remaining set of robots also.

show abstract

“…The work of Pagli et al [14] considers the near-gathering problem where collisions must be avoided among robots. The obstructed visibility is also considered in the so-called fat robots model [1,4,6,7,9] in which robots are not points, but non-transparent unit discs, and hence they can obstruct visibility of collinear robots. However, all these work do not consider faulty robots.…”

Section: Detailed Related Workmentioning

confidence: 99%

Complete Visibility for Mobile Robots with Lights Tolerating Faults

Aljohani

Sharma

2018

IJNC

View full text Add to dashboard Cite

We consider the distributed setting of N autonomous mobile robots that operate in LookCompute-Move (LCM) cycles and communicate with other robots using colored lights (the robots with lights model). We study the fundamental Complete Visibility problem of repositioning N robots on a plane so that each robot is visible to all others. We assume obstructed visibility under which a robot cannot see another robot if a third robot is positioned between them on the straight line connecting them. We are interested in fault-tolerant algorithms; all existing algorithms for this problem are not fault-tolerant (except handling some special cases). We study fault-tolerance with respect to failures on the mobility of robots. Therefore, any algorithm for Complete Visibility is required to provide visibility between all non-faulty robots, independently of the behavior of the faulty ones. We model mobility failures as crash faults in which each faulty robot is allowed to stop its movement at any time and, once the faulty robot stopped moving, that robot will remain stationary indefinitely. In this paper, we present and analyze an algorithm that solves Complete Visibility tolerating one crash-faulty robot in a system of N ≥ 3 robots, starting from any arbitrary initial configuration. We also provide an impossibility result on solving Complete Visibility if a single robot is Byzantine-faulty in a system of N = 3 robots; in the Byzantine fault model, a faulty robot might behave in an unpredictable, arbitrary, and unforeseeable ways. Furthermore, we discuss how to solve Complete Visibility for some initial configurations of robots (which we call feasible initial configurations) in the crash fault model, where two robots are (crash) faulty.

show abstract

Collisionless Gathering of Robots with an Extent

Cited by 32 publications

References 17 publications

Self-organizing Particle Systems

Self-organizing Particle Systems

Leader election and gathering for asynchronous fat robots without common chirality

Complete Visibility for Mobile Robots with Lights Tolerating Faults

Contact Info

Product

Resources

About