Consensus in the presence of partial synchrony
Journal of the ACM (JACM)
Unreliable failure detectors for reliable distributed systems
Journal of the ACM (JACM)
Distributed Anonymous Mobile Robots: Formation of Geometric Patterns
SIAM Journal on Computing
Swarm intelligence: from natural to artificial systems
Swarm intelligence: from natural to artificial systems
Self-stabilization
Cooperative Mobile Robotics: Antecedents and Directions
Autonomous Robots
Collective and Cooperative Group Behaviors: Biologically Inspired Experiments in Robotics
The 4th International Symposium on Experimental Robotics IV
ICTCS '01 Proceedings of the 7th Italian Conference on Theoretical Computer Science
Coordination without communication: the case of the flocking problem
Discrete Applied Mathematics - Fun with algorithms 2 (FUN 2001)
Gathering of asynchronous robots with limited visibility
Theoretical Computer Science
Fault-Tolerant Gathering Algorithms for Autonomous Mobile Robots
SIAM Journal on Computing
Gathering two stateless mobile robots using very inaccurate compasses in finite time
Proceedings of the 1st international conference on Robot communication and coordination
Convergence of Autonomous Mobile Robots with Inaccurate Sensors and Movements
SIAM Journal on Computing
Using eventually consistent compasses to gather oblivious mobile robots with limited visibility
SSS'06 Proceedings of the 8th international conference on Stabilization, safety, and security of distributed systems
Solving the robots gathering problem
ICALP'03 Proceedings of the 30th international conference on Automata, languages and programming
Dynamic compass models and gathering algorithms for autonomous mobile robots
SIROCCO'07 Proceedings of the 14th international conference on Structural information and communication complexity
Gathering asynchronous mobile robots with inaccurate compasses
OPODIS'06 Proceedings of the 10th international conference on Principles of Distributed Systems
Gathering few fat mobile robots in the plane
OPODIS'06 Proceedings of the 10th international conference on Principles of Distributed Systems
Distributed coordination algorithms for mobile robot swarms: new directions and challenges
IWDC'05 Proceedings of the 7th international conference on Distributed Computing
Fault-tolerant and self-stabilizing mobile robots gathering
DISC'06 Proceedings of the 20th international conference on Distributed Computing
On the feasibility of gathering by autonomous mobile robots
SIROCCO'05 Proceedings of the 12th international conference on Structural Information and Communication Complexity
Gathering autonomous mobile robots with dynamic compasses: an optimal result
DISC'07 Proceedings of the 21st international conference on Distributed Computing
Randomized Gathering of Mobile Robots with Local-Multiplicity Detection
SSS '09 Proceedings of the 11th International Symposium on Stabilization, Safety, and Security of Distributed Systems
On the computational power of oblivious robots: forming a series of geometric patterns
Proceedings of the 29th ACM SIGACT-SIGOPS symposium on Principles of distributed computing
Connectivity-preserving scattering of mobile robots with limited visibility
SSS'10 Proceedings of the 12th international conference on Stabilization, safety, and security of distributed systems
Pattern formation through optimum matching by oblivious CORDA robots
OPODIS'10 Proceedings of the 14th international conference on Principles of distributed systems
Optimal exploration of small rings
Proceedings of the Third International Workshop on Reliability, Availability, and Security
Synchronous rendezvous for location-aware agents
DISC'11 Proceedings of the 25th international conference on Distributed computing
Self-stabilizing gathering with strong multiplicity detection
Theoretical Computer Science
Optimal probabilistic ring exploration by semi-synchronous oblivious robots
SIROCCO'09 Proceedings of the 16th international conference on Structural Information and Communication Complexity
Circle formation by asynchronous fat robots with limited visibility
ICDCIT'12 Proceedings of the 8th international conference on Distributed Computing and Internet Technology
The Gathering Problem for Two Oblivious Robots with Unreliable Compasses
SIAM Journal on Computing
Getting close without touching
SIROCCO'12 Proceedings of the 19th international conference on Structural Information and Communication Complexity
Optimal probabilistic ring exploration by semi-synchronous oblivious robots
Theoretical Computer Science
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Reaching agreement among a set of mobile robots is one of the most fundamental issues in distributed robotic systems. This problem is often illustrated by the gathering problem, where the robots must self-organize and meet at some location not determined in advance, and without the help of some global coordinate system. While very simple to express, this problem has the advantage of retaining the inherent difficulty of agreement, namely the question of breaking symmetry between robots. In previous works, it has been proved that the gathering problem is solvable in asynchronous model with oblivious (i.e., memory-less) robots and limited visibility, as long as the robots share the knowledge of some direction, as provided by a compass. However, the problem has no solution in the semi-synchronous model when robots do not share a compass, or when they cannot detect multiplicity. In this article, we define a model in which compasses may be unreliable, and study the solvability of gathering oblivious mobile robots with limited visibility in the semi-synchronous model. In particular, we give an algorithm that solves the problem in finite time in a system where compasses are unstable for some arbitrary long periods, provided that they stabilize eventually. In addition, we show that our algorithm solves the gathering problem for at most three robots in the asynchronous model. Our algorithm is intrinsically self-stabilizing.