Leader election algorithms for mobile ad hoc networks
DIALM '00 Proceedings of the 4th international workshop on Discrete algorithms and methods for mobile computing and communications
A mutual exclusion algorithm for ad hoc mobile networks
Wireless Networks
An Incremental Self-Deployment Algorithm for Mobile Sensor Networks
Autonomous Robots
Ad-hoc On-Demand Distance Vector Routing
WMCSA '99 Proceedings of the Second IEEE Workshop on Mobile Computer Systems and Applications
Gathering of asynchronous robots with limited visibility
Theoretical Computer Science
Connectivity Service for Mobile Ad-Hoc Networks
SASOW '08 Proceedings of the 2008 Second IEEE International Conference on Self-Adaptive and Self-Organizing Systems Workshops
Maintaining Limited-Range Connectivity Among Second-Order Agents
SIAM Journal on Control and Optimization
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
Distributed computation in dynamic networks
Proceedings of the forty-second ACM symposium on Theory of computing
Reliably detecting connectivity using local graph traits
OPODIS'10 Proceedings of the 14th international conference on Principles of distributed systems
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Designing robust algorithms for mobile agents with reliable communication is difficult due to the distributed nature of computation, in mobile ad hoc networks (MANETs) the matter is exacerbated by the need to ensure connectivity. Existing distributed algorithms provide coordination but typically assume connectivity is ensured by other means. We present a connectivity service that encapsulates an arbitrary motion planner and can refine any plan to preserve connectivity (the graph of agents remains connected) and ensure progress (the agents advance towards their goal). The service is realized by a distributed algorithm that is modular in that it makes no assumptions of the motion-planning mechanism except the ability for an agent to query its position and intended goal position, local in that it uses 1-hop broadcast to communicate with nearby agents but doesn't need any network routing infrastructure, and oblivious in that it does not depend on previous computations. We prove the progress of the algorithm in one round is at least Ω(min(d, r)), where d is the minimum distance between an agent and its target and r is the communication radius. We characterize the worst case configuration and show that when d ≥ r this bound is tight and the algorithm is optimal, since no algorithm can guarantee greater progress. Finally we show all agents get Ɛ-close to their targets within O(D0/r+n2/Ɛ) rounds where n is the number of agents and D0 is the sum of the initial distances to the targets.