Distributed Anonymous Mobile Robots: Formation of Geometric Patterns
SIAM Journal on Computing
GeoQuorums: implementing atomic memory in mobile ad hoc networks
Distributed Computing - Special issue: DISC 03
The Theory of Timed I/O Automata (Synthesis Lectures in Computer Science)
The Theory of Timed I/O Automata (Synthesis Lectures in Computer Science)
A Virtual Node-Based Tracking Algorithm for Mobile Networks
ICDCS '07 Proceedings of the 27th International Conference on Distributed Computing Systems
Virtual infrastructure for collision-prone wireless networks
Proceedings of the twenty-seventh ACM symposium on Principles of distributed computing
Distributed Models and Algorithms for Mobile Robot Systems
SOFSEM '07 Proceedings of the 33rd conference on Current Trends in Theory and Practice of Computer Science
Self-stabilization and virtual node layer emulations
SSS'07 Proceedings of the 9h international conference on Stabilization, safety, and security of distributed systems
Timed virtual stationary automata for mobile networks
OPODIS'05 Proceedings of the 9th international conference on Principles of Distributed Systems
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In this paper, we describe how virtual infrastructure can be used to coordinate the motion of mobile robots in a 2-dimensional plane in the presence of dynamic changes in the underlying mobile ad hoc network, i.e., nodes joining, leaving, or failing. The mobile robots cooperate to implement a VSA Layer, in which a virtual stationary automaton (VSA) is associated with each region of the plane. The VSAs coordinate among themselves to distribute the robots as needed throughout the plane. The resulting motion coordination protocol is self-stabilizing, in that each robot can begin the execution in any arbitrary state and at any arbitrary location in the plane. In addition, self-stabilization ensures that the robots can adapt to changes in the desired formation.