Distributed Anonymous Mobile Robots: Formation of Geometric Patterns
SIAM Journal on Computing
ICTCS '01 Proceedings of the 7th Italian Conference on Theoretical Computer Science
Agreement on a Common X - Y Coordinate System by a Group of Mobile Robots
Intelligent Robots: Sensing, Modeling and Planning [Dagstuhl Workshop, September 1-6, 1996]
Fault-tolerant gathering algorithms for autonomous mobile robots
SODA '04 Proceedings of the fifteenth annual ACM-SIAM symposium on Discrete algorithms
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
Convergence of autonomous mobile robots with inaccurate sensors and movements
STACS'06 Proceedings of the 23rd Annual conference on Theoretical Aspects of Computer Science
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
Geometric computations by broadcasting automata on the integer grid
UC'11 Proceedings of the 10th international conference on Unconventional computation
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
Geometric computations by broadcasting automata
Natural Computing: an international journal
Position discovery for a system of bouncing robots
DISC'12 Proceedings of the 26th international conference on Distributed Computing
Optimal probabilistic ring exploration by semi-synchronous oblivious robots
Theoretical Computer Science
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A number of recent studies address systems of mobile autonomous robots from a distributed computing point of view. Although such systems employ robots that are relatively weak and simple (i.e., dimensionless, oblivious and anonymous), they are nevertheless expected to have strong fault tolerance capabilities as a group. This paper studies the partitioning problem, where n robots must divide themselves into k size-balanced groups, and examines the impact of common orientation on the solvability of this problem. First, deterministic crash-fault-tolerant algorithms are given for the problem in the asynchronous full-compass and semi-synchronous half-compass models, and a randomized algorithm is given for the semi-synchronous no-compass model. Next, the role of common orientation shared by the robots is examined. Necessary and sufficient conditions for the partitioning problem to be solvable are given in the different timing models. Finally, the problem is proved to be unsolvable in the no-compass synchronous model.