Uniform Circle Formation for Swarms of Opaque Robots with Lights

Feletti, Caterina; Mereghetti, Carlo; Palano, Beatrice

doi:10.1007/978-3-030-03232-6_21

Cited by 12 publications

(12 citation statements)

References 38 publications

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“…More generally, the Krohn-Rhodes decomposition theorem [27] states that any classical finite automaton can be simulated by composing very "simple" finite automata: one of these simple automata is exactly the one for L m . From this perspective, our photonic quantum automaton could be hardwired into "hybrid" architectures joining classical and quantum components to build very succinct finite state devices operating in environments where dimension and energy absorption are particularly critical issues (e.g., drone or robot-based systems [28]).…”

Section: Formal Languages Finite Automata and Quantum Computingmentioning

confidence: 99%

An Enhanced Photonic Quantum Finite Automaton

et al. 2021

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In a recent paper we have described an optical implementation of a measure-once one-way quantum finite automaton recognizing a well-known family of unary periodic languages, accepting words not in the language with a given error probability. To process input words, the automaton exploits the degree of polarization of single photons and, to reduce the acceptance error probability, a technique of confidence amplification using the photon counts is implemented. In this paper, we show that the performance of this automaton may be further improved by using strategies that suitably consider both the orthogonal output polarizations of the photon. In our analysis, we also take into account how detector dark counts may affect the performance of the automaton.

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Section: Formal Languages Finite Automata and Quantum Computingmentioning

confidence: 99%

An Enhanced Photonic Quantum Finite Automaton

et al. 2021

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“…Also, they assumed that an inactive robot can sense its vicinity. The closest solution to our problem was studied in [13]; however, they considered the problem under an Fsync scheduler.…”

Section: Earlier Workmentioning

confidence: 99%

Circle formation by asynchronous opaque robots on infinite grid

Adhikary

Kundu²,

2021

csci

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This paper presents a distributed algorithm for circle formation problem under the infinite grid environment by asynchronous mobile opaque robots. Initially all the robots are acquiring distinct positions and they have to form a circle over the grid. Movements of the robots are restricted only along the grid lines. They do not share any global co-ordinate system. Robots are controlled by an asynchronous adversarial scheduler that operates in Look-Compute-Move cycles. The robots are indistinguishable by their nature, do not have any memory of their past configurations and previous actions. We consider the problem under luminous model, where robots communicate via lights, other than that they do not have any external communication system. Our protocol solves the circle formation problem using seven colors. A subroutine of our algorithm also solves the line formation problem using three colors.

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“…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). In order to consider more powerful and realistic models, the luminous robot [11,[20][21][22][25][26][27] has been introduced: robots equipped with a persistent light assuming different colors. Since such a light color is preserved from one look-compute-move cycle to the next one, it can be used as a persistent constant memory and a means of communication as well.…”

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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Uniform Circle Formation for Swarms of Opaque Robots with Lights

Cited by 12 publications

References 38 publications

An Enhanced Photonic Quantum Finite Automaton

An Enhanced Photonic Quantum Finite Automaton

Circle formation by asynchronous opaque robots on infinite grid

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

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