ACM Computing Surveys (CSUR)
Distributed Anonymous Mobile Robots: Formation of Geometric Patterns
SIAM Journal on Computing
Self-stabilization
Fault-tolerant gathering algorithms for autonomous mobile robots
SODA '04 Proceedings of the fifteenth annual ACM-SIAM symposium on Discrete algorithms
Gathering of asynchronous robots with limited visibility
Theoretical Computer Science
Solving the robots gathering problem
ICALP'03 Proceedings of the 30th international conference on Automata, languages and programming
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
Theoretical Computer Science
Gathering Problem of Two Asynchronous Mobile Robots with Semi-dynamic Compasses
SIROCCO '08 Proceedings of the 15th international colloquium on Structural Information and Communication Complexity
r3: Resilient Random Regular Graphs
DISC '08 Proceedings of the 22nd international symposium on Distributed Computing
Using eventually consistent compasses to gather memory-less mobile robots with limited visibility
ACM Transactions on Autonomous and Adaptive Systems (TAAS)
A Self-stabilizing Marching Algorithm for a Group of Oblivious Robots
OPODIS '08 Proceedings of the 12th International Conference on Principles of Distributed Systems
Dynamic compass models and gathering algorithms for autonomous mobile robots
SIROCCO'07 Proceedings of the 14th international conference on Structural information and communication complexity
A distributed formation algorithm to organize agents with no coordinate agreement
ECAL'07 Proceedings of the 9th European conference on Advances in artificial life
Keeping mobile robot swarms connected
DISC'09 Proceedings of the 23rd international conference on Distributed computing
Gathering asynchronous mobile robots with inaccurate compasses
OPODIS'06 Proceedings of the 10th international conference on Principles of Distributed Systems
Gathering of fat robots with limited visibility and without global navigation
SIDE'12 Proceedings of the 2012 international conference on Swarm and Evolutionary Computation
Gathering autonomous mobile robots with dynamic compasses: an optimal result
DISC'07 Proceedings of the 21st international conference on Distributed Computing
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Reaching agreement between 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 (not predetermined) location, without a global coordinate system. While being 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 was proved that gathering is solvable in asynchronous model with oblivious 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 and cannot detect multiplicity. In this paper, we define a model in which compasses may be unreliable, and study the solvability of gathering oblivious mobile robots with limited visibility in a 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, our algorithm is self-stabilizing.