Abstract
We consider a swarm of simple ant-robots (or a(ge)nts) on the plane, which are anonymous, homogeneous, memoryless and lack communication capabilities. Their sensors are range-limited and they are unable to measure distances. Rather, they can only acquire the directions to their neighbors. We propose a simple algorithm, which makes them gather in a small region or a point. We discuss three variants of the problem: A continuous-space discrete-time problem, a continuous-time limit of that problem, and a discrete-space discrete-time analog. Using both analysis and simulations, we show that, interestingly, the system’s global behavior in the continuous-time limit is fundamentally different from that of the discrete-time case, due to hidden “Zenoness” in it.
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© 2004 Springer-Verlag Berlin Heidelberg
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Gordon, N., Wagner, I.A., Bruckstein, A.M. (2004). Gathering Multiple Robotic A(ge)nts with Limited Sensing Capabilities. In: Dorigo, M., Birattari, M., Blum, C., Gambardella, L.M., Mondada, F., Stützle, T. (eds) Ant Colony Optimization and Swarm Intelligence. ANTS 2004. Lecture Notes in Computer Science, vol 3172. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-28646-2_13
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DOI: https://doi.org/10.1007/978-3-540-28646-2_13
Publisher Name: Springer, Berlin, Heidelberg
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