Dynamics and stability in coordination of multiple robotic mechanisms
International Journal of Robotics Research
Distributed Anonymous Mobile Robots: Formation of Geometric Patterns
SIAM Journal on Computing
Cooperative Mobile Robotics: Antecedents and Directions
Autonomous Robots
ISAAC '99 Proceedings of the 10th International Symposium on Algorithms and Computation
Convergence Properties of the Gravitational Algorithm in Asynchronous Robot Systems
SIAM Journal on Computing
Planning Algorithms
Convergence of Autonomous Mobile Robots with Inaccurate Sensors and Movements
SIAM Journal on Computing
Arbitrary pattern formation by asynchronous, anonymous, oblivious robots
Theoretical Computer Science
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
Stabilizing flocking via leader election in robot networks
SSS'07 Proceedings of the 9h international conference on Stabilization, safety, and security of distributed systems
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
On the feasibility of gathering by autonomous mobile robots
SIROCCO'05 Proceedings of the 12th international conference on Structural Information and Communication Complexity
Abstraction and control for Groups of robots
IEEE Transactions on Robotics
Gathering autonomous mobile robots with dynamic compasses: an optimal result
DISC'07 Proceedings of the 21st international conference on Distributed Computing
Separation of Circulating Tokens
SSS '09 Proceedings of the 11th International Symposium on Stabilization, Safety, and Security of Distributed Systems
Network exploration by silent and oblivious robots
WG'10 Proceedings of the 36th international conference on Graph-theoretic concepts in computer science
Optimal exploration of small rings
Proceedings of the Third International Workshop on Reliability, Availability, and Security
Optimal probabilistic ring exploration by semi-synchronous oblivious robots
SIROCCO'09 Proceedings of the 16th international conference on Structural Information and Communication Complexity
Optimal probabilistic ring exploration by semi-synchronous oblivious robots
Theoretical Computer Science
Deterministic geoleader election in disoriented anonymous systems
Theoretical Computer Science
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We propose a self-stabilizing marching algorithm for a group of oblivious robots in an obstacle-free workplace. To this end, we develop a distributed algorithm for a group of robots to transport a polygonal object, where each robot holds the object at a corner, and observe that each robot can simulate the algorithm, even after we replace the object by an imaginary one; we thus can use the algorithm as a marching algorithm. Each robot independently computes a velocity vector using the algorithm, moves to a new position with the velocity for a unit of time, and repeats this cycle until it reaches the goal position. The algorithm is oblivious, i.e., the computation depends only on the current robot configuration, and is constructed from a naive algorithm that generates only a selfish move, by adding two simple ingredients. For the case of two robots, we theoretically show that the algorithm is self-stabilizing, and demonstrate by simulations that the algorithm produces a motion that is fairly close to the time-optimal motion. For cases of more than two robots, we show that a natural extension of the algorithm for two robots also produces smooth and elegant motions by simulations as well.