Advertisement

Using Eventually Consistent Compasses to Gather Oblivious Mobile Robots with Limited Visibility

  • Samia Souissi
  • Xavier Défago
  • Masafumi Yamashita
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4280)

Abstract

Reaching agreement between a set of mobile robots is one of the most fundamental issues in distributed robotic systems. This problem is often illustrated by the gathering problem, where the robots must self-organize and meet at some (not predetermined) location, without a global coordinate system. While being very simple to express, this problem has the advantage of retaining the inherent difficulty of agreement, namely the question of breaking symmetry between robots. In previous works, it was proved that gathering is solvable in asynchronous model with oblivious robots and limited visibility, as long as the robots share the knowledge of some direction, as provided by a compass. However, the problem has no solution in the semi-synchronous model when robots do not share a compass and cannot detect multiplicity.

In this paper, we define a model in which compasses may be unreliable, and study the solvability of gathering oblivious mobile robots with limited visibility in a semi-synchronous model. In particular, we give an algorithm that solves the problem in finite time in a system where compasses are unstable for some arbitrary long periods, provided that they stabilize eventually. In addition, our algorithm is self-stabilizing.

Keywords

Mobile Robot Atom Model Distance Graph Circular Sector North Direction 
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.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Suzuki, I., Yamashita, M.: Distributed anonymous mobile robots: Formation of geometric patterns. SIAM Journal of Computing 28(4), 1347–1363 (1999)MATHCrossRefMathSciNetGoogle Scholar
  2. 2.
    Dolev, S.: Self-Stabilization. MIT Press, Cambridge (2000)MATHGoogle Scholar
  3. 3.
    Schneider, M.: Self-stabilization. ACM Computing Surveys 25(1), 45–67 (1993)CrossRefGoogle Scholar
  4. 4.
    Cieliebak, M.: Gathering non-oblivious mobile robots. In: Farach-Colton, M. (ed.) LATIN 2004. LNCS, vol. 2976, pp. 577–588. Springer, Heidelberg (2004)CrossRefGoogle Scholar
  5. 5.
    Cieliebak, M., Flocchini, P., Prencipe, G., Santoro, N.: Solving the robots gathering problem. In: Baeten, J.C.M., Lenstra, J.K., Parrow, J., Woeginger, G.J. (eds.) ICALP 2003. LNCS, vol. 2719, pp. 1181–1196. Springer, Heidelberg (2003)CrossRefGoogle Scholar
  6. 6.
    Flocchini, P., Prencipe, G., Santoro, N., Widmayer, P.: Gathering of asynchronous robots with limited visibility. Theor. Comput. Sci. 337(1–3), 147–168 (2005)MATHCrossRefMathSciNetGoogle Scholar
  7. 7.
    Prencipe, G.: On the feasibility of gathering by autonomous mobile robots. In: Pelc, A., Raynal, M. (eds.) SIROCCO 2005. LNCS, vol. 3499, pp. 246–261. Springer, Heidelberg (2005)CrossRefGoogle Scholar
  8. 8.
    Ando, H., Oasa, Y., Suzuki, I., Yamashita, M.: Distributed memoryless point convergence algorithm for mobile robots with limited visibility. IEEE Trans. on Robotics and Automation 15(5), 818–828 (1999)CrossRefGoogle Scholar
  9. 9.
    Prencipe, G.: Corda: Distributed coordination of a set of autonomous mobile robots. In: Proc. ERSADS 2001, Bertinoro, Italy, pp. 185–190 (2001)Google Scholar
  10. 10.
    Cohen, R., Peleg, D.: Robot convergence via center-of-gravity algorithms. In: Kralovic, R., Sýkora, O. (eds.) SIROCCO 2004. LNCS, vol. 3104, pp. 79–88. Springer, Heidelberg (2004)CrossRefGoogle Scholar
  11. 11.
    Agmon, N., Peleg, D.: Fault-tolerant gathering algorithms for autonomous mobile robots. In: Proc. 15th Annual ACM-SIAM Symp. on Discrete Algorithms (SODA 2004), Philadelphia, PA, USA, pp. 1070–1078 (2004)Google Scholar
  12. 12.
    Défago, X., Gradinariu, M., Messika, S., Raipin-Parvédy, P.: Fault-tolerant and self-stabilizing mobile robots gathering. In: Dolev, S. (ed.) DISC 2006. LNCS, vol. 4167, pp. 46–60. Springer, Heidelberg (2006)CrossRefGoogle Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Samia Souissi
    • 1
  • Xavier Défago
    • 1
  • Masafumi Yamashita
    • 2
  1. 1.School of Information ScienceJapan Advanced Institute of Science and Technology (JAIST) 
  2. 2.Department of Computer Science and Communication EngineeringKyushu UniversityFukuokaJapan

Personalised recommendations