Abstract
This paper studies local algorithms for autonomous robot systems, namely, algorithms that use only information of the positions of a bounded number of their nearest neighbors. The paper focuses on the spreading problem. It defines measures for the quality of spreading, presents a local algorithm for the one-dimensional spreading problem, prove its convergence to the equally spaced configuration and discusses its convergence rate in the synchronous and semi-synchronous settings. It then presents a local algorithm achieving the exact equally spaced configuration in finite time in the synchronous setting, and proves it is time optimal for local algorithms. Finally, the paper also proposes an algorithm for the two-dimensional case and presents simulation results of its effectiveness.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Akansu, A.N., Haddad, R.A.: Multiresolution Signal Decomposition. Academic Press, San Diego (1992)
Ando, H., Suzuki, I., Yamashita, M.: Formation and agreement problems for synchronous mobile robots with limited visibility. In: Proc. IEEE Symp. of Intelligent Control, pp. 453–460 (August 1995)
Balch, T., Arkin, R.: Behavior-based formation control for multi-robot teams. IEEE Trans. on Robotics and Automation 14 (December 1998)
Beni, G., Hackwood, S.: Coherent swarm motion under distributed control. In: Proc. DARS 1992, pp. 39–52 (1992)
Cao, Y.U., Fukunaga, A.S., Kahng, A.B.: Cooperative mobile robotics: Antecedents and directions. Autonomous Robots 4(1), 7–23 (1997)
Cieliebak, M., Flocchini, P., Prencipe, G., Santoro, N.: Solving the robots gathering problem. In: Proc. 30th Int. Colloq. on Automata, Languages and Programming, pp. 1181–1196 (2003)
Defago, X., Konagaya, A.: Circle formation for oblivious anonymous mobile robots with no common sense of orientation. In: Proc. 2nd ACM Workshop on Principles of Mobile Computing, pp. 97–104. ACM Press, New York (2002)
Dijkstra, E.W.: Selected Writings on Computing: A Personal Perspective, pp. 34–35. Springer, New York (1982)
Flocchini, P., Prencipe, G., Santoro, N., Widmayer, P.: Hard tasks for weak robots: The role of common knowledge in pattern formation by autonomous mobile robots. In: Proc. 10th Int. Symp. on Algorithms and Computation, pp. 93–102 (1999)
Gordon, N., Wagner, I.A., Bruckstein, A.M.: Gathering multiple robotic a(ge)nts with limited sensing capabilities. In: Proc. 4th Int. Workshop on Ant Colony Optimization and Swarm Intelligence, pp. 142–153 (September 2004)
Jung, D., Cheng, G., Zelinsky, A.: Experiments in realising cooperation between autonomous mobile robots. In: Proc. Int. Symp. on Experimental Robotics (1997)
Keil, J.M., Gutwin, C.A.: Classes of graphs which approximate the complete euclidean graph. Discrete computational Geometry 7, 13–28 (1992)
Mataric, M.J.: Interaction and Intelligent Behavior. PhD thesis, MIT (1994)
Parker, L.E.: Designing control laws for cooperative agent teams. In: Proc. IEEE Conf. on Robotics and Automation, pp. 582–587 (1993)
Parker, L.E.: On the design of behavior-based multi-robot teams. J. of Advanced Robotics 10 (1996)
Parker, L.E., Touzet, C., Fernandez, F.: Techniques for learning in multi-robot teams. In: Balch, T., Parker, L.E. (eds.) Robot Teams: From Diversity to Polymorphism. A.K. Peters (2001)
Prencipe, G.: CORDA: Distributed coordination of a set of atonomous mobile robots. In: Proc. 4th European Research Seminar on Advances in Distributed Systems, pp. 185–190 (May 2001)
Prencipe, G.: Distributed Coordination of a Set of Atonomous Mobile Robots. PhD thesis, Universita Degli Studi Di Pisa (2002)
Sugihara, K., Suzuki, I.: Distributed algorithms for formation of geometric patterns with many mobile robots. J. of Robotic Systems 13(3), 127–139 (1996)
Suzuki, I., Yamashita, M.: Distributed anonymous mobile robots: Formation of geometric patterns. SIAM J. on Computing 28, 1347–1363 (1999)
Wagner, I.A., Bruckstein, A.M.: From ants to a(ge)nts. Annals of Mathematics and Artificial Intelligence 31, 1–5 (1996), special issue on ant-robotics
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2006 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Cohen, R., Peleg, D. (2006). Local Algorithms for Autonomous Robot Systems. In: Flocchini, P., Gąsieniec, L. (eds) Structural Information and Communication Complexity. SIROCCO 2006. Lecture Notes in Computer Science, vol 4056. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11780823_4
Download citation
DOI: https://doi.org/10.1007/11780823_4
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-35474-1
Online ISBN: 978-3-540-35475-8
eBook Packages: Computer ScienceComputer Science (R0)