Search by a metamorphic robotic system in a finite 2D square Grid

Doi, Keisuke; Yamauchi, Yukiko; Kijima, Shuji; Yamashita, Masafumi

doi:10.1016/j.ic.2021.104695

Cited by 3 publications

(20 citation statements)

References 26 publications

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“…As one of building blocks of the proposed evacuation algorithms, we use existing algorithms [1,11] that solve the following locomotion problem. Definition 2 (Locomotion).…”

Section: Problemsmentioning

confidence: 99%

“…Proof. The proof mostly follows Lemma 5 in [11]. Here, we assume that each module cannot observe any wall in its initial state because walls are too far from its initial location.…”

Section: Starting From Restricted Initial Statesmentioning

confidence: 99%

“…Modular robotic systems composed of a large number of modules, each of which autonomously moves, attract much attention both in robotics [16][17][18] and theoretical computer science [1,[10][11][12][13]. Since the modules collectively achieve a given task, the main focus has been put on distributed coordination.…”

Section: Introductionmentioning

confidence: 99%

“…The MRS changes its shape and moves toward a destination by local movements of modules. Existing literature [1,[10][11][12][13] has investigated the computational power of the MRS with a variety of problems and evaluation criteria.…”

Section: Introductionmentioning

confidence: 99%

“…Chen et al proposed a locomotion algorithm for modules that can observe cells within a constant distance [1]. Doi et al proposed search by the MRS [10,11]. The MRS is required to reach a target cell in an unknown finite 2D rectangular field from an arbitrary initial configuration.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Evacuation from Various Types of Finite 2D Square Grid Fields by a Metamorphic Robotic System

Nakamura,

Kamei,

Yamauchi

2020

Preprint

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We consider evacuation from a finite two-dimensional (2D) square grid field by a metamorphic robotic system (MRS). An MRS is composed of anonymous memoryless modules. Each module of an MRS executes an identical distributed algorithm and moves autonomously while keeping the connectivity of modules. Since the modules are memoryless, an MRS utilizes its shape to remember the progress of execution. The number of available shapes that an MRS can form depends on the number of modules, which is thus an important complexity measure for a behavior of an MRS. In this paper, we investigate the minimum number of modules required to solve the evacuation problem with several conditions. First, we consider a rectangular field surrounded by walls with at least one exit and show that two modules are necessary and sufficient for evacuation from any rectangular field if the modules are equipped with a global compass, which allows the modules to have a common sense of direction. Then, we focus on the case where modules do not have a global compass and show that four (resp. seven) modules are necessary and sufficient for restricted (resp. any) initial states of an MRS. We also show that two modules are sufficient in the special case where an MRS is on a wall in an initial configuration. Finally, we extend these results to another type of fields, that is, mazes.

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“…As one of building blocks of the proposed evacuation algorithms, we use existing algorithms [1,11] that solve the following locomotion problem. Definition 2 (Locomotion).…”

Section: Problemsmentioning

confidence: 99%

“…Proof. The proof mostly follows Lemma 5 in [11]. Here, we assume that each module cannot observe any wall in its initial state because walls are too far from its initial location.…”

Section: Starting From Restricted Initial Statesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Evacuation from Various Types of Finite 2D Square Grid Fields by a Metamorphic Robotic System

Nakamura,

Kamei,

Yamauchi

2020

Preprint

Self Cite

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Evacuation from various types of finite two‐dimensional square grid fields by a metamorphic robotic system

Nakamura

Kamei

Yamauchi

2021

Concurrency and Computation

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Summary A metamorphic robotic system (MRS) is composed of anonymous, memoryless, and autonomous modules that execute an identical distributed algorithm to move while keeping the connectivity of the modules. For an MRS, the number of modules required to solve a given task is an important complexity measure. Here, we consider evacuation from a finite two‐dimensional square grid field by an MRS. This study aims to establish the minimum number of modules required to solve the evacuation problem under several conditions. We consider a rectangular field surrounded by walls with at least one exit. Our results show that two modules are necessary and sufficient for evacuation from any rectangular field if equipped with a global compass, which provides the modules with a common sense of direction. After that, we focus on the case of modules without a global compass and show that four (resp. seven) modules are necessary and sufficient for restricted (resp. any) initial shapes of an MRS. We also show that two modules are sufficient when an MRS is touching a wall in an initial configuration. Then, we clarify the condition to stop an MRS after evacuation of a rectangular field. Finally, we extend these results to mazes and convex fields.

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Rendezvous and Merging for Two Metamorphic Robotic Systems Without Global Compass

Yamada,

Usami,

Yamauchi

2024

Lecture Notes in Computer Science

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Search by a metamorphic robotic system in a finite 2D square Grid

Cited by 3 publications

References 26 publications

Evacuation from Various Types of Finite 2D Square Grid Fields by a Metamorphic Robotic System

Evacuation from Various Types of Finite 2D Square Grid Fields by a Metamorphic Robotic System

Evacuation from various types of finite two‐dimensional square grid fields by a metamorphic robotic system

Rendezvous and Merging for Two Metamorphic Robotic Systems Without Global Compass

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