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

Agathangelou, Chrysovalandis; Georgiou, Chryssis; Mavronicolas, Marios

doi:10.1145/2484239.2484266

Cited by 78 publications

(57 citation statements)

References 14 publications

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“…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

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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.

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Section: Detailed Related Workmentioning

confidence: 99%

Complete Visibility for Mobile Robots with Lights Tolerating Faults

Aljohani

Sharma

2018

IJNC

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“…They follow a broad variety of goals: for example, graph exploration (e.g., [24]), gathering problems (e.g., [2,17]), shape formation problems (e.g., [25,37]), and to understand the global effects of local behavior in natural swarms like social insects, birds, or fish (e.g., [8,12]). Surveys of recent results in swarm robotics can be found in [31,34]; other samples of representative work can be found in [5, 7, 18-20, 28, 32].…”

Section: Related Workmentioning

confidence: 99%

Leader Election and Shape Formation with Self-organizing Programmable Matter

Derakhshandeh

Gmyr

Strothmann

et al. 2015

Lecture Notes in Computer Science

120

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Abstract. We consider programmable matter consisting of simple computational elements, called particles, that can establish and release bonds and can actively move in a self-organized way, and we investigate the feasibility of solving fundamental problems relevant for programmable matter. As a suitable model for such self-organizing particle systems, we will use a generalization of the geometric amoebot model first proposed in SPAA 2014. Based on the geometric model, we present efficient localcontrol algorithms for leader election and line formation requiring only particles with constant size memory, and we also discuss the limitations of solving these problems within the general amoebot model.

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“…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%

“…Bolla et al [8] have proposed a simulation based strategy for gathering any number of synchronous fat robots. Recently Agathangelou et al [1] have proposed a solution for gathering any number of asynchronous fat robots. However they assume, common chirality for the robots.…”

Section: Earlier Workmentioning

confidence: 99%

“…They also showed that this characterization holds without common chirality if and only if the number of robots is odd. Recent works [14,15] show that arbitrary pattern formation and leader election are equivalent for n ≥ 4 1 Compasses are unstable for some arbitrary long periods, but they stabilize eventually. robots under the CORDA model if the robots have common chirality.…”

Section: Earlier Workmentioning

confidence: 99%

See 1 more Smart Citation

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

Cited by 78 publications

References 14 publications

Complete Visibility for Mobile Robots with Lights Tolerating Faults

Complete Visibility for Mobile Robots with Lights Tolerating Faults

Leader Election and Shape Formation with Self-organizing Programmable Matter

Leader election and gathering for asynchronous fat robots without common chirality

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