Gathering Asynchronous Transparent Fat Robots

Chaudhuri, Sruti Gan; Mukhopadhyaya, Krishnendu

doi:10.1007/978-3-642-11659-9_17

Cited by 16 publications

(10 citation statements)

References 7 publications

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“…20 if deg_sym > 0 ∧ st_sym = True then 21 Report "G is straight symmetric"; 22 Report "The degree of symmetry is:" deg_sym/2; 23 end 24 if deg_sym > 0 ∧ sk_sym = True then 25 Report "G is skew symmetric"; 26 Report "The degree of symmetry is:" deg_sym/2; 27 end 28 if deg_sym = 0 then 29 Report "G is asymmetric"; 30 end…”

Section: Lemma 1 If G Is Asymmetric Then There Always Exists a Vertementioning

confidence: 99%

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Leader election and gathering for asynchronous fat robots without common chirality

Chaudhuri

Mukhopadhyaya

2015

Journal of Discrete Algorithms

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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.

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Section: Lemma 1 If G Is Asymmetric Then There Always Exists a Vertementioning

confidence: 99%

“…(Fig. 9, first R 2 will go to A; next R 3 will go to A ; then R 1 will move); 21 else 22 Move R i to layer ; 23 Slide R i around C (if required) in layer in order to touch other robot in layer ; 24 end 25 end 26 end 27 Remove R i from R; 28 Add R i to P;…”

mentioning

confidence: 99%

Leader election and gathering for asynchronous fat robots without common chirality

Chaudhuri

Mukhopadhyaya

2015

Journal of Discrete Algorithms

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“…However these works consider different models than the one considered in [8]. In [6] it is assumed that the fat robots are transparent. This assumption makes the problem significantly easier, as robots have full visibility at all times.…”

Section: Motivation and Prior Workmentioning

confidence: 99%

A distributed algorithm for gathering many fat mobile robots in the plane

Agathangelou

Georgiou

Mavronicolas

2013

Proceedings of the 2013 ACM Symposium on Principles of Distributed Computing

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In this work we consider the problem of gathering autonomous robots in the plane. In particular, we consider non-transparent unit-disc robots (i.e., fat) in an asynchronous setting. Vision is the only mean of coordination. Using a state-machine representation we formulate the gathering problem and develop a distributed algorithm that solves the problem for any number of robots.The main idea behind our algorithm is for the robots to reach a configuration in which all the following hold: (a) The robots' centers form a convex hull in which all robots are on the convex, (b) Each robot can see all other robots, and (c) The configuration is connected, that is, every robot touches another robot and all robots together form a connected formation. We show that starting from any initial configuration, the robots, making only local decisions and coordinate by vision, eventually reach such a configuration and terminate, yielding a solution to the gathering problem.

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“…In [9] it is presented an algorithm that works for n ≥ 5 robots that are solid but transparent. The robots must be initially placed in an asymmetry configuration (so that a leader can be elected) and the desired gathering pattern is a circular layered structure of robots with the elected leader in the center.…”

Section: New Directionsmentioning

confidence: 99%

Autonomous Mobile Robots: A Distributed Computing Perspective

Prencipe

2013

Algorithms for Sensor Systems

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Abstract. The distributed coordination and control of a team of autonomous mobile robots is a problem widely studied in a variety of fields, such as engineering, artificial intelligence, artificial life, robotics. Generally, in these areas, the problem is studied mostly from an empirical point of view. Recently, the study of what can be computed by such team of robots has become increasingly popular in theoretical computer science and especially in distributed computing, where it is now an integral part of the investigations on computability by mobile entities [28]. In this paper we describe the current investigations on the algorithmic limitations of what autonomous mobile robots can do with respect to different coordination problems, and overview the main research topics that are gaining attention in this area.

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Gathering Asynchronous Transparent Fat Robots

Cited by 16 publications

References 7 publications

Leader election and gathering for asynchronous fat robots without common chirality

Leader election and gathering for asynchronous fat robots without common chirality

A distributed algorithm for gathering many fat mobile robots in the plane

Autonomous Mobile Robots: A Distributed Computing Perspective

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