Abstract
We consider the distributed setting of N autonomous mobile robots that operate in Look-Compute-Move (LCM) cycles and communicate with other robots using colored lights under the robots with lights model. We study the fundamental Complete Visibility problem of repositioning N robots on a plane so that each robot is visible to all others. We assume obstructed visibility under which a robot cannot see another robot if a third robot is positioned between them on the straight line connecting them. We are interested in fault-tolerant algorithms. We study fault-tolerance with respect to failures on the mobility of robots. Therefore, any algorithm for Complete Visibility is required to provide visibility between all non-faulty robots, independently of the behavior of the faulty ones. We model mobility failures as crash faults in which each faulty robot is allowed to stop its movement at any time and, once the faulty robot stopped moving, that robot will remain stationary indefinitely thereafter. There exists an algorithm for this problem that tolerates a single faulty robot in the semi-synchronous setting under both-axis agreement. In this paper, we provide the first algorithm for this problem that tolerates \(f\le N\) faulty robots in the asynchronous setting under one-axis agreement. The proposed algorithm is collision-free – robots do not share positions and their paths do not cross, energy efficient – each robot performs at most one move, and handles non-rigidity of the robot movements.
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Aljohani, A., Poudel, P., Sharma, G. (2018). Fault-Tolerant Complete Visibility for Asynchronous Robots with Lights Under One-Axis Agreement. In: Rahman, M., Sung, WK., Uehara, R. (eds) WALCOM: Algorithms and Computation. WALCOM 2018. Lecture Notes in Computer Science(), vol 10755. Springer, Cham. https://doi.org/10.1007/978-3-319-75172-6_15
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