Filling Arbitrary Connected Areas by Silent Robots with Minimum Visibility Range

Hideg, Attila; Lukovszki, Tamás; Forstner, Bertalan

doi:10.1007/978-3-030-14094-6_13

Cited by 8 publications

(9 citation statements)

References 12 publications

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“…The Virtual Chain Method presented in [2] was designed to minimize the hardware requirements to 1 hop visibility, O(∆ · log k) bits of memory, and no communication or other hardware (e.g., global or local positioning hardware). A short description of the algorithm: Among the robots, there was a distinct one, which was the leader robot.…”

Section: Virtual Chain Methodsmentioning

confidence: 99%

“…However, having k doors meant that the runtime was increased by a factor of k. This can be 'perceived' as the overhead coming from the coordination of the chains. More details and proof of correctness can be found in [2].…”

Section: Virtual Chain Methodsmentioning

confidence: 99%

“…This method worked in orthogonal areas and required a shared knowledge of directions (North, East, South, West). In [2], it was further improved to remove the requirement of orthogonal areas: it could solve the Filling in arbitrary areas at the cost of runtime and memory.…”

Section: Background and Related Workmentioning

confidence: 99%

“…Our previous work examined a particular dispersion problem called the Filling, which required robots to cover a previously unknown area represented by a graph. In [2], an algorithm called the Virtual Chain Method (VCM) was presented. In this paper, we further improve this algorithm, namely, we have made improvements in two specific ways.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Improved Runtime for the Synchronous Multi-door Filling

Hideg

Lukovszki²,

Forstner

2022

Period. Polytech. Elec. Eng. Comp. Sci.

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In this paper, a particular type of dispersion is further investigated, which is called Filling. In this problem, robots are injected one by one into an a priori not known area and have to travel across until the whole area is covered. The coverage is achieved by a robotic team whose hardware capabilities are restricted in order to maintain low production costs. This includes limited viewing and communication ranges. In this work, we present an algorithm solving the synchronous Filling problem in O((k + ∆)·n) time steps by n robots with a viewing range of 1 hop, where k is the number of doors, n is the number of vertices of the graph, and ∆ is the maximum degree of the graph. This improves the best previously known running time bound of O(k · ∆ · n). Furthermore, we remove the constraint from the previous algorithm that the door vertices need to have a degree of 1.

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Section: Virtual Chain Methodsmentioning

confidence: 99%

Section: Virtual Chain Methodsmentioning

confidence: 99%

Section: Background and Related Workmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Improved Runtime for the Synchronous Multi-door Filling

Hideg

Lukovszki²,

Forstner

2022

Period. Polytech. Elec. Eng. Comp. Sci.

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“…Robots in non-typical domains such as squares and triangles with sides of equal length of 1 were explored in [15]. In some search problems robots may be in an unfamiliar domain that requires mapping instead of target hunting and the environment may be modeled by a strongly connected graph [1,18]. To map an unknown area, robots must visit and keep track of all nodes and edges [2].…”

Section: Related Workmentioning

confidence: 99%

Scatter Search on a Disk

Chopra¹

2021

Preprint

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Consider a unit disk with two objects at unidentified locations. We examine the problem of two or more robots in search of both objects in the wireless communication model. We begin with two robots and both are needed to carry an object. Subsequently, we design several algorithms that describe robots trajectories in search of the objects. We were able to achieve a minimum worst-case search time of 6.7518 and a lower bound of 3 + π 2 . Additionally, we define two general cases and bound the worst-case search time for both. The first of the cases is for n ≥ 3 robots and an object can be moved by one robot. The second case is where we have n ≥ 3 robots and two robots are needed to carry an object. We achieve an upper bound of 1 + 2π n + sin (⌊n 2 ⌋ π n ) for the first case and an upper bound of 3 + 2π n + sin π n for the second case, with lower bounds of 2 + π n and 3 + π n respectively.

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Asynchronous Filling by Myopic Luminous Robots

Hideg

Lukovszki

2020

Algorithms for Sensor Systems

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Filling Arbitrary Connected Areas by Silent Robots with Minimum Visibility Range

Cited by 8 publications

References 12 publications

Improved Runtime for the Synchronous Multi-door Filling

Improved Runtime for the Synchronous Multi-door Filling

Scatter Search on a Disk

Asynchronous Filling by Myopic Luminous Robots

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