Computing by Mobile Robotic Sensors

Flocchini, Paola; Prencipe, Giuseppe; Santoro, Nicola

doi:10.1007/978-3-642-14849-1_21

Cited by 9 publications

(4 citation statements)

References 93 publications

(233 reference statements)

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“…Again this is inherent in the problem since, e.g., already for one robot on trees the PVP with the "explore and halt" task is ExpTime-complete [30]. We leave for future research the problem of finding decidability results with reasonable complexity for multi-robot systems that are rich enough to capture protocols found in the distributed computing literature, e.g., [5,24,14,15].…”

Section: Discussionmentioning

confidence: 99%

“…Foundational tasks include, for example, rendezvous (gather all robots in a single position) and reconfiguration (move to a new configuration in a collision-free way) [25,14,15]. This paper studies robots in partially known environments, i.e., robots do not have global information about the environment, but may know some (often topological) information (e.g., whether the environment is connected, or that it is a ring of some unknown size) [14]. The motivation for studying partially known environments is that in many practical scenarios the robots are unaware of the exact environment in which they are operating, e.g., mobile software exploring a hostile computer network, or physical robots that rendezvous in an environment not reachable by humans.…”

Section: Introductionmentioning

confidence: 99%

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Verification of Asynchronous Mobile-Robots in Partially-Known Environments

Aminof

Murano

Rubin

et al. 2015

PRIMA 2015: Principles and Practice of Multi-Agent Systems

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Abstract. This paper establishes a framework based on logic and automata theory in which to model and automatically verify that multiple mobile robots, with sensing abilities, moving asynchronously, correctly perform their tasks. The motivation is from practical scenarios in which the environment is not completely know to the robots, e.g., physical robots exploring a maze, or software agents exploring a hostile network. The framework shows how to express tasks in a logical language, and exhibits an algorithm solving the parameterised verification problem, where the graphs are treated as the parameter. The main assumption that yields decidability is that the robots take a bounded number of turns. We prove that dropping this assumption results in undecidability, even for robots with very limited ("local") sensing abilities.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Verification of Asynchronous Mobile-Robots in Partially-Known Environments

Aminof

Murano

Rubin

et al. 2015

PRIMA 2015: Principles and Practice of Multi-Agent Systems

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“…Mainly from the view point of self-stabilization, robots in the literature have few memory, or often no memory (called oblivious), and hence they are required to solve problems from "geometric" information observed. Designing self-stabilizing distributed algorithms for mobile autonomous robots has been intensively investigated on various problems such as pattern formation [7,15,20,21,22,23], gathering [1,2,4,5,13], self-deployment [3,6,10,11,12,14,19] including scattering and coverage.…”

Section: Background: Computability Of Autonomous Mobile Robotsmentioning

confidence: 99%

Can Walker Localize The Middle Point of A Line-segment?

Monde,

Yamauchi,

Kijima

et al. 2017

Preprint

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This paper poses a question about a simple localization problem. The question is if an oblivious walker on a line-segment can localize the middle point of the line-segment in finite steps observing the direction (i.e., Left or Right) and the distance to the nearest end point. This problem is arisen from self-stabilizing location problems by autonomous mobile robots with limited visibility, that is a widely interested abstract model in distributed computing. Contrary to appearances, it is far from trivial if this simple problem is solvable or not, and unsettled yet. This paper is concerned with three variants of the problem with a minimal relaxation, and presents self-stabilizing algorithms for them. We also show an easy impossibility theorem for bilaterally symmetric algorithms.

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“…The first setting, sometimes called graph world or discrete universe, is when the universe is a simple graph; the second setting, sometimes called continuous universe, is when U is a region of the two-dimensional (2D) space. In this paper we are interested in the continuous setting of mobile computational entities in the plane, which has been investigated by researchers in distributed computing as well as in robotics, control, and artificial intelligence, albeit with different assumptions (see, e.g., [1,3,11,13,21,26,27,28,29,30,33,41,40,43,49,51,52]; for recent surveys see [5,24,25,47]). …”

Section: Settingmentioning

confidence: 99%

Distributed Computing by Mobile Robots: Gathering

Cieliebak¹,

Flocchini²,

Prencipe³

et al. 2012

SIAM J. Comput.

Self Cite

204

147

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Abstract. Consider a set of n > 2 identical mobile computational entities in the plane, called robots, operating in Look-Compute-Move cycles, without any means of direct communication. The Gathering Problem is the primitive task of all entities gathering in finite time at a point not fixed in advance, without any external control. The problem has been extensively studied in the literature under a variety of strong assumptions (e.g., synchronicity of the cycles, instantaneous movements, complete memory of the past, common coordinate system, etc.). In this paper we consider the setting without those assumptions, that is, when the entities are oblivious (i.e., they do not remember results and observations from previous cycles), disoriented (i.e., have no common coordinate system), and fully asynchronous (i.e., no assumptions exist on timing of cycles and activities within a cycle). The existing algorithmic contributions for such robots are limited to solutions for n ≤ 4 or for restricted sets of initial configurations of the robots; the question of whether such weak robots could deterministically gather has remained open. In this paper, we prove that indeed the Gathering Problem is solvable, for any n > 2 and any initial configuration, even under such restrictive conditions.

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Computing by Mobile Robotic Sensors

Cited by 9 publications

References 93 publications

Verification of Asynchronous Mobile-Robots in Partially-Known Environments

Verification of Asynchronous Mobile-Robots in Partially-Known Environments

Can Walker Localize The Middle Point of A Line-segment?

Distributed Computing by Mobile Robots: Gathering

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