Gathering Asynchronous Swarm Robots under Nonuniform Limited Visibility

  • Avik Chatterjee
  • Sruti Gan Chaudhuri
  • Krishnendu Mukhopadhyaya
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8956)


This paper proposes a distributed algorithm for gathering a group of autonomous, homogeneous, oblivious, asynchronous mobile robots having limited visibility (sensing) ranges. To the best of our knowledge, all reported results have assumed that the visibility ranges are uniform for all the robots. In contrast, we consider that the visibility ranges of the robots are not uniform. Moreover, the robots have no knowledge about the visibility ranges of other robots. However, a lower bound on the visibility range of all the robots is known to all the robots.


Asynchronous robots Nonuniform limited visibility Gathering 


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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • Avik Chatterjee
    • 1
  • Sruti Gan Chaudhuri
    • 2
  • Krishnendu Mukhopadhyaya
    • 3
  1. 1.Techno IndiaHooglyIndia
  2. 2.Jadavpur UniversityKolkataIndia
  3. 3.Indian Statistical InstituteKolkataIndia

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