Distributed computing by mobile robots: uniform circle formation

Flocchini, Paola; Prencipe, Giuseppe; Santoro, Nicola; Viglietta, Giovanni

doi:10.1007/s00446-016-0291-x

Cited by 51 publications

(24 citation statements)

References 29 publications

(61 reference statements)

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“…In this section we provide fundamental arguments affecting the correctness of [22], [4,5] and [16]. It is worth to remark 6 The technique adopted by means of Procedure STATIONARYMOVE is similar to the so-called cautious move in [20,25]. that our algorithm does not fix all the problems arisen in this section, however our technique might be helpful as a guideline for approaching such inconsistencies.…”

Section: Counter-examplesmentioning

confidence: 98%

“…m 20 If ∃ a rotational-free path for r (1) then r (1) moves toward c(R); concurrently, r (2) moves toward a point that makes predicate u 1 true, without swapping its role with r (1) nor crossing C j ↓ (R), for any j. m 21 If ∃ a rotational-free path for r (1) then r (1) moves toward c(R); Else let C i ↓ (R) be the circle where r (1) resides, then r (1) moves toward a point t that halves its distance from C i+1 ↓ (R). If r (2) ∈ [t 60 ,t 55 ), then it moves toward t x if such a point exists else toward t 55 .…”

Section: Phase Fmentioning

confidence: 99%

“…The main open question left in [22] within ASYNC concerns the resolution of the more general PF problem in the described setting but without chirality. So far, the only subproblems solved within the weakest setting are the gathering problem [9], where all robots must move toward a common point, and the circle-formation problem [20,25], where n robots must form a regular n-gon.…”

Section: Introductionmentioning

confidence: 99%

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Asynchronous Arbitrary Pattern Formation: the effects of a rigorous approach

2018

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Given any multiset F of points in the Euclidean plane and a set R of robots such that |R| = |F|, the Arbitrary Pattern Formation (APF) problem asks for a distributed algorithm that moves robots so as to reach a configuration similar to F. Similarity means that robots must be disposed as F regardless of translations, rotations, reflections, uniform scalings. Initially, each robot occupies a distinct position. When active, a robot operates in standard Look-ComputeMove cycles. Robots are asynchronous, oblivious, anonymous, silent and execute the same distributed algorithm. So far, the problem has been mainly addressed by assuming chirality, that is robots share a common left-right orientation. We are interested in removing such a restriction.While working on the subject, we faced several issues that required close attention. We deeply investigated how such difficulties were overcome in the literature, revealing that crucial arguments for the correctness proof of the existing algorithms have been neglected. The systematic lack of rigorous arguments with respect to necessary conditions required for providing correctness proofs deeply affects the The work has been supported in part by the European project "Geospatial based Environment for Optimisation Systems Addressing Fire Emergencies" (GEO-SAFE), contract no. H2020-691161, and by the Italian National Group for Scientific Computation (GNCS-INdAM). Here we design a new deterministic distributed algorithm that fully characterizes APF showing its equivalence with the well-known Leader Election problem in the asynchronous model without chirality. Our approach is characterized by the use of logical predicates in order to formally describe our algorithm as well as its correctness. In addition to the relevance of our achievements, our techniques might help in revising previous results.

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Section: Counter-examplesmentioning

confidence: 98%

Section: Phase Fmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Asynchronous Arbitrary Pattern Formation: the effects of a rigorous approach

2018

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“…The pattern formation problem refers to arrange a set of robots to form a given pattern. In literature, some research works are focusing on some specific patterns, such as circular [44], regular polygonal [45,46], etc. In addition, some research works are focusing on arbitrary patterns [47,48].…”

Section: Local Coordination In Multi-robot Systemsmentioning

confidence: 99%

CPS-Based Smart Warehouse for Industry 4.0: A Survey of the Underlying Technologies

et al. 2018

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This paper discusses how the state-of-the-art techniques in cyber-physical systems facilitate building smart warehouses to achieve the promising vision of industry 4.0. We focus on four significant issues when applying CPS techniques in smart warehouses. First, efficient CPS data collection: when limited communication bandwidth meets numerous CPS devices, we need to make more effort to study efficient wireless communication scheduling strategies. Second, accurate and robust localization: localization is the basis for many fundamental operations in smart warehouses, but still needs to be improved from various aspects like accuracy and robustness. Third, human activity recognition: human activity recognition can be applied in human-computer interaction for remote machine operations. Fourth, multi-robot collaboration: smart robots will take the place of humans to accomplish most tasks particularly in a harsh environment, and smart and fully-distributed robot collaborating algorithms should be investigated. Finally, we point out some challenging issues in the future CPS-based smart warehouse, which could open some new research directions.

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“…Uniform circle formation has been solved for point robots [10,11]. Circle formation for transparent fat robots has been addressed in [14,13].…”

Section: Contribution Of This Papermentioning

confidence: 99%

Uniform Circle Formation by Fat Robots

Mondal

Chaudhuri

Bhattacharya

2018

International Conference on Intelligent Data Communication Technologies and Internet of Things (ICICI) 2018

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This paper addresses the problem of Uniform Circle Formation by n > 1 transparent disc robots (fat robots). The robots execute repetitive cycles of the states look-compute-move in semi-synchronous manner where a set of robots execute the cycle simultaneously. They do not communicate by any explicit message passing. However, they can sense or observes the positions of other robots around themselves through sensors or camera. The robots are unable to recover the past actions and observations. They have no unique identity. The robots do not have any global coordinate system. They agree upon only y-axis (South and North direction). However, they do not have chirality or common orientation of Y axis with respect to X axis. Being transparent the robots do not cause any visual obstructions for other robots. But, they act as physical obstacles for other robots. This paper proposes a collision free movement strategy for the robots to form a uniform circle (in other words convex regular polygon) executing finite number of cycles. To the best of our knowledge this is the first reported results on uniform circle formation for fat robots under the considered model.

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Distributed computing by mobile robots: uniform circle formation

Cited by 51 publications

References 29 publications

Asynchronous Arbitrary Pattern Formation: the effects of a rigorous approach

Asynchronous Arbitrary Pattern Formation: the effects of a rigorous approach

CPS-Based Smart Warehouse for Industry 4.0: A Survey of the Underlying Technologies

Uniform Circle Formation by Fat Robots

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