Minimum algorithm sizes for self-stabilizing gathering and related problems of autonomous mobile robots

by   Yuichi Asahiro, et al.

We investigate a swarm of autonomous mobile robots in the Euclidean plane. A robot has a function called target function to determine the destination point from the robots' positions. All robots in the swarm conventionally take the same target function, but there is apparent limitation in problem-solving ability. We allow the robots to take different target functions. The number of different target functions necessary and sufficient to solve a problem Π is called the minimum algorithm size (MAS) for Π. We establish the MASs for solving the gathering and related problems from any initial configuration, i.e., in a self-stabilizing manner. We show, for example, for 1 ≤ c ≤ n, there is a problem Π_c such that the MAS for the Π_c is c, where n is the size of swarm. The MAS for the gathering problem is 2, and the MAS for the fault tolerant gathering problem is 3, when 1 ≤ f (< n) robots may crash, but the MAS for the problem of gathering all robot (including faulty ones) at a point is not solvable (even if all robots have distinct target functions), as long as a robot may crash.


page 1

page 2

page 3

page 4


Arbitrary Pattern Formation on a Continuous Circle by Oblivious Robot Swarm

In the field of distributed system, Arbitrary Pattern Formation (APF) pr...

Compatibility of convergence algorithms for autonomous mobile robots

We consider several convergence problems for autonomous mobile robots un...

Asynchronous Scattering

In this paper, we consider the problem of scattering a swarm of mobile o...

Coding theory for noiseless channels realized by anonymous oblivious mobile robots

We propose an information transmission scheme by a swarm of anonymous ob...

Determination of spatial configuration of an underwater swarm with minimum data

The subject is the localization problem of an underwater swarm of autono...

Emergent naming of resources in a foraging robot swarm

We investigate the emergence of language convention within a swarm of ro...

Swarm Engineering Through Quantitative Measurement of Swarm Robotic Principles in a 10,000 Robot Swarm

When designing swarm-robotic systems, systematic comparison of algorithm...

Please sign up or login with your details

Forgot password? Click here to reset