Gathering Problem of Two Asynchronous Mobile Robots with Semi-dynamic Compasses

Authors:
Nobuhiro Inuzuka;Yuichi Tomida;Taisuke Izumi;Yoshiaki Katayama;Koichi Wada
Affiliations:
Nagoya Institute of Technology, Gokiso-cho Showa, Nagoya, Japan 466-8555;Nagoya Institute of Technology, Gokiso-cho Showa, Nagoya, Japan 466-8555;Nagoya Institute of Technology, Gokiso-cho Showa, Nagoya, Japan 466-8555;Nagoya Institute of Technology, Gokiso-cho Showa, Nagoya, Japan 466-8555;Nagoya Institute of Technology, Gokiso-cho Showa, Nagoya, Japan 466-8555
Venue:
SIROCCO '08 Proceedings of the 15th international colloquium on Structural Information and Communication Complexity
Year:
2008

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Abstract

Systems of autonomous mobile robots have been attracted as distributed systems. Minimal setting for robots to solve some class of problems has been studied with theoretical concerns. This paper contributes discussion on relationship between inaccuracy of compasses which give axes of coordinate systems of robots and the possibility of gathering robots. The gathering problem is to make all robots meet at a single point which is not predefined. The problem has been shown to be solvable for two robots with dynamically variable compasses within the difference of 茂戮驴/4 between two robots. This paper improves the limit of difference to 茂戮驴/3. This is shown with the fully asynchronous robot model CORDA. Configurations and executions of robot systems for CORDA with dynamic compasses are formalised. In order to deal with behaviors of robots a concept of relative configurations is also introduced.