Encyclopedia of Algorithms

Living Edition
| Editors: Ming-Yang Kao

Memoryless Gathering of Mobile Robotic Sensors

  • Paola Flocchini
Living reference work entry
DOI: https://doi.org/10.1007/978-3-642-27848-8_595-1

Years and Authors of Summarized Original Work

2005; Flocchini, Prencipe, Santoro, Widmayer

1999; Ando, Oasa, Suzuki, Yamashita

Problem Definition

The Model: A mobile robotic sensor (or simply sensor) is modeled as a computational unit with sensorial capabilities: it can perceive the spatial environment within a fixed distance V > 0, called visibility range, it has its own local working memory, and it is capable of performing local computations [3, 4].

Each sensor is a point in its own local Cartesian coordinate system (not necessarily consistent with the others), of which it perceives itself as the center. A sensor can move in any direction, but it may be stopped before reaching its destination, e.g. because of limits to its motion energy; however, it is assumed that the distance traveled in a move by a sensor is not infinitesimally small (unless it brings the sensor to its destination).

The sensors have no means of direct communication: any communication occurs in an implicit manner,...


Gathering Sensors aggregation Rendezvous 
This is a preview of subscription content, log in to check access.

Recommended Reading

  1. 1.
    Ando H, Oasa Y, Suzuki I, Yamashita M (1999) A distributed memoryless point convergence algorithm for mobile robots with limited visibility. IEEE Trans Robot Autom 15(5):818–828CrossRefGoogle Scholar
  2. 2.
    Flocchini P, Prencipe G, Santoro N, Widmayer P (2005) Gathering of asynchronous mobile robots with limited visibility. Theor Comput Sci 337:147–168CrossRefzbMATHMathSciNetGoogle Scholar
  3. 3.
    Flocchini P, Prencipe G, Santoro N (2011) Computing by mobile robotic sensors. In: Nikoletseas S, Rolim J (eds) Theoretical aspects of distributed computing in sensor networks, chap 21. Springer, Heidelberg. ISBN:978-3-642-14849-1Google Scholar
  4. 4.
    Flocchini P, Prencipe G, Santoro N (2012) Distributed computing by oblivious mobile robots. Morgan & Claypool, San RafaelGoogle Scholar
  5. 5.
    Katreniak B (2011) Convergence with limited visibility by asynchronous mobile robots. In: 18th international colloquium on structural information and communication complexity (SIROCCO), Gdańsk, Poland, pp 125–137Google Scholar
  6. 6.
    Lin J, Morse A, Anderson B (2007) The multi-agent rendezvous problem. Part 2: the asynchronous case. SIAM J Control Optim 46(6):2120–2147CrossRefzbMATHMathSciNetGoogle Scholar
  7. 7.
    Pagli L, Prencipe G, Viglietta G (2012) Getting close without touching. In: 19th international colloquium on structural information and communication complexity (SIROCCO), Reykjavík, Iceland, pp 315–326Google Scholar
  8. 8.
    Prencipe G (2007) Impossibility of gathering by a set of autonomous mobile robots. Theor Comput Sci 384(2–3):222–231CrossRefzbMATHMathSciNetGoogle Scholar
  9. 9.
    Souissi S, Défago X, Yamashita M (2009) Using eventually consistent compasses to gather memory-less mobile robots with limited visibility. ACM Trans Auton Adapt Syst 4(1):1–27CrossRefGoogle Scholar

Copyright information

© Springer Science+Business Media New York 2014

Authors and Affiliations

  1. 1.School of Electrical Engineering and Computer Science, University of OttawaOttawaCanada