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Local Algorithms for Autonomous Robot Systems

  • Reuven Cohen
  • David Peleg
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4056)

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.

Keywords

Mobile Robot Discrete Fourier Transform Local Algorithm Voronoi Cell Global Coordinate System 
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.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Reuven Cohen
    • 1
  • David Peleg
    • 2
  1. 1.Dept. of Electrical and Computer Eng.Boston UniversityBostonUSA
  2. 2.Dept. of Computer ScienceWeizmann InstituteRehovotIsrael

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