Distributed Computing

, Volume 28, Issue 5, pp 333–349 | Cite as

Getting close without touching: near-gathering for autonomous mobile robots

  • Linda Pagli
  • Giuseppe PrencipeEmail author
  • Giovanni Viglietta


In this paper we study the Near-Gathering problem for a finite set of dimensionless, deterministic, asynchronous, anonymous, oblivious and autonomous mobile robots with limited visibility moving in the Euclidean plane in Look–Compute–Move cycles. In this problem, the robots have to get close enough to each other, so that every robot can see all the others, without touching (i.e., colliding with) any other robot. The importance of solving the Near-Gathering problem is that it makes it possible to overcome the restriction of having robots with limited visibility. Hence it allows to exploit all the studies (the majority, actually) done on this topic in the unlimited visibility setting. Indeed, after the robots get close enough to each other, they are able to see all the robots in the system, a scenario that is similar to the one where the robots have unlimited visibility. We present the first (deterministic) algorithm for the Near-Gathering problem, to the best of our knowledge, which allows a set of autonomous mobile robots to nearly gather within finite time without ever colliding. Our algorithm assumes some reasonable conditions on the input configuration (the Near-Gathering problem is easily seen to be unsolvable in general). Further, all the robots are assumed to have a compass (hence they agree on the “North” direction), but they do not necessarily have the same handedness (hence they may disagree on the clockwise direction). We also show how the robots can detect termination, i.e., detect when the Near-Gathering problem has been solved. This is crucial when the robots have to perform a generic task after having nearly gathered. We show that termination detection can be obtained even if the total number of robots is unknown to the robots themselves (i.e., it is not a parameter of the algorithm), and robots have no way to explicitly communicate.


Initial Configuration Distance Graph Destination Point Autonomous Mobile Robot Limited Visibility 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.



We would like to thank Paola Flocchini, Nicola Santoro, and Peter Widmayer, who contributed to the writing of this paper by sharing their ideas. We also thank the anonymous reviewers for precious comments that helped us improve the readability of this paper.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2015

Authors and Affiliations

  • Linda Pagli
    • 1
  • Giuseppe Prencipe
    • 1
    Email author
  • Giovanni Viglietta
    • 2
  1. 1.Dipartimento di InformaticaUniversità di PisaPisaItaly
  2. 2.School of Electrical Engineering and Computer ScienceUniversity of OttawaOttawaCanada

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