Autonomous Mobile Robots: Refining the Computational Landscape

Buchin, Kevin; Flocchini, Paola; Kostitsyna, Irina; Peters, Tom; Santoro, Nicola; Wada, Koichi

doi:10.1109/ipdpsw52791.2021.00091

Cited by 6 publications

(8 citation statements)

References 19 publications

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“…These theorems hold assuming rigidity and chirality and these results are extended and they hold without rigidity and chirality [5].…”

Section: Computational Relationshipsmentioning

confidence: 70%

On the Computational Power of Energy-Constrained Mobile Robots: Algorithms and Cross-Model Analysis

Buchun¹,

Flocchini²,

Kostitsyna³

et al. 2022

Preprint

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We consider distributed systems of identical autonomous computational entities, called robots, moving and operating in the plane in synchronous Look -Compute-Move (LCM ) cycles. The algorithmic capabilities of these systems have been extensively investigated in the literature under four distinct models (OBLOT , FSTA, FCOM, LUMI), each identifying different levels of memory persistence and communication capabilities of the robots. In spite of their differences, they all always assume that the robots have unlimited amounts of energy.

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“…These theorems hold assuming rigidity and chirality and these results are extended and they hold without rigidity and chirality [5].…”

Section: Computational Relationshipsmentioning

confidence: 70%

On the Computational Power of Energy-Constrained Mobile Robots: Algorithms and Cross-Model Analysis

Buchun¹,

Flocchini²,

Kostitsyna³

et al. 2022

Preprint

Self Cite

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“…In [2], the previous work of characterizing the relations between the robot models and three type of schedulers was continued. The authors provided a more refined map of the computational landscape for robots operating under fully synchronous and semi-synchronous schedulers, by removing the assumptions on robots' movements of rigidity and common chirality.…”

Section: Related Workmentioning

confidence: 99%

“…In recent times, exhaustive investigation has also been done [2,8] about the issues of memory persistence and communication capability, have on the solvability of a problem and computational capability of a system. In light of these facts, four models have been identified and investigated, OBLOT , LUMI, FST A and FCOM.…”

Section: Introductionmentioning

confidence: 99%

The Computational Landscape of Autonomous Mobile Robots: The Visibility Perspective

Das¹,

Ghosh²,

Sharma³

et al. 2023

Preprint

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Consider a group of autonomous mobile computational entities called robots. The robots move in the Euclidean plane and operate according to synchronous Look-Compute-M ove cycles. The computational capabilities of the robots under the four traditional models {OBLOT , FST A, F COM, LUMI} have been extensively investigated both when the robots had unlimited amount of energy and when the robots were energy-constrained. In both the above cases, the robots had full visibility. In this paper, this assumption is removed, i.e., we assume that the robots can view up to a constant radius Vr from their position (the Vr is same for all the robots) and, investigates what impact it has on its computational capabilities. We first study whether the restriction imposed on the visibility has any impact at all, i.e., under a given model and scheduler does there exist any problem which cannot be solved by a robot having limited visibility but can be solved by a robot with full visibility. We find that the answer to the question in general turns out to be positive. Next we try to get an idea that under a given model, which of the two factors, V isibility or Synchronicity is more powerful and conclude that a definite conclusion cannot be drawn. We restrict our investigations to {OBLOT , FST A, FCOM} models and to synchronous schedulers only. The results in LUMI model is yet to be determined.

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“…Along with the application studies in the robotics and electronics fields [1][2][3][4][5], computer science research has attempted to design theoretical models [6][7][8][9][10] which best formalize and simulate generic distributed systems, and to study efficient algorithms for some primitive tasks. Such an analytical investigation aims at providing a rigorous and universal methodology to study the collaborative strategies for mobile multi-agent systems [10][11][12][13], model peculiar realworld scenarios [14][15][16], prove and analyze the correctness of algorithmic solutions [17,18], and investigate their computational complexity [19][20][21][22][23].…”

Section: Introductionmentioning

confidence: 99%

“…Different model assumptions are considered, affecting the computational power of robots [19,[21][22][23]. Generally, robots are assumed to be point-like, anonymous (without any distinct identifiers yielding the ability to distinguish one robot from another), and oblivious (without any persistent memory).…”

Section: Introductionmentioning

confidence: 99%

Uniform Circle Formation for Fully, Semi-, and Asynchronous Opaque Robots with Lights

2023

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In the field of robotics, a lot of theoretical models have been settled to formalize multi-agent systems and design distributed algorithms for autonomous robots. Among the most investigated problems for such systems, the study of the Uniform Circle Formation (UCF problem earned a lot of attention for the properties of such a convenient disposition. Such a problem asks robots to move on the plane to form a regular polygon, running a deterministic and distributed algorithm by executing a sequence of look–compute–move cycles. This work aims to solve the UCF problem for a very restrictive model of robots: they are punctiform, anonymous, and indistinguishable. They are completely disoriented, i.e., they share neither the coordinate system nor chirality. Additionally, they are opaque, so collinearities can hide important data for a proper computation. To tackle these system limitations, robots are equipped with a persistent light used to communicate and store a constant amount of information. For such a robot model, this paper presents a solution for UCF for each of the three scheduling modes usually studied in the literature: fully synchronous, semi-synchronous, and asynchronous. Regarding the time complexity, the proposed algorithms use a constant number of cycles (epochs) for fully synchronous (semi-synchronous) robots, and linearly, many epochs in the worst case for asynchronous robots.

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Autonomous Mobile Robots: Refining the Computational Landscape

Cited by 6 publications

References 19 publications

On the Computational Power of Energy-Constrained Mobile Robots: Algorithms and Cross-Model Analysis

On the Computational Power of Energy-Constrained Mobile Robots: Algorithms and Cross-Model Analysis

The Computational Landscape of Autonomous Mobile Robots: The Visibility Perspective

Uniform Circle Formation for Fully, Semi-, and Asynchronous Opaque Robots with Lights

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