Abstract
In the present paper, we introduce two different algorithms for the two dimensional gathering problem for synchronous, fat (disk-like) robots with no global navigation or communication, and with limited visibility. One of the algorithms is a slightly modified version of the local smallest enclosing circle (local SEC) algorithm. The other algorithm uses a new method of the gathering: the robots moves towards the furthest visible robot, and the robots on the perimeter of the visibility graph applies a bigger extent of move than the others. With the help of computer simulations, the two proposed algorithms are shown to be applicable for the gathering problem above and they perform better than the earlier simple SEC algorithm developed for point like robots.
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Bolla, K., Kovacs, T., Fazekas, G. (2012). Gathering of Fat Robots with Limited Visibility and without Global Navigation. In: Rutkowski, L., Korytkowski, M., Scherer, R., Tadeusiewicz, R., Zadeh, L.A., Zurada, J.M. (eds) Swarm and Evolutionary Computation. EC SIDE 2012 2012. Lecture Notes in Computer Science, vol 7269. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-29353-5_4
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DOI: https://doi.org/10.1007/978-3-642-29353-5_4
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