Unreliable failure detectors for reliable distributed systems
Journal of the ACM (JACM)
A Decentralized and Adaptive Flocking Algorithm for Autonomous Mobile Robots
GPC-WORKSHOPS '08 Proceedings of the 2008 The 3rd International Conference on Grid and Pervasive Computing - Workshops
Self-organized flocking with a mobile robot swarm
Proceedings of the 7th international joint conference on Autonomous agents and multiagent systems - Volume 1
Fault-Tolerant Flocking in a k-Bounded Asynchronous System
OPODIS '08 Proceedings of the 12th International Conference on Principles of Distributed Systems
A Survey of Fault Tolerance Techniques in Mobile Agents and Mobile Agent Systems
ICECS '09 Proceedings of the 2009 Second International Conference on Environmental and Computer Science
Stabilizing flocking via leader election in robot networks
SSS'07 Proceedings of the 9h international conference on Stabilization, safety, and security of distributed systems
To boldly go: an occam-π mission to engineer emergence
Natural Computing: an international journal
Hi-index | 0.00 |
Consider a system composed of mobile robots that move on the plane, each of which independently executing its own instance of an algorithm. Given a desired geometric pattern, the flocking problem consists in ensuring that the robots form this pattern and maintain it while moving together on the plane. In this paper, we explore flocking in the presence of faulty robots, where the desired pattern is a regular polygon. We propose a distributed fault tolerant flocking algorithm assuming a semi-synchronous model with a k-bounded scheduler, in the sense that no robot is activated no more than k times between any two consecutive activations of any other robot. The algorithm is composed of three parts: failure detector, ranking assignment, and flocking algorithm. The role of the rank assignment is to provide a persistent and unique ranking for the robots. The failure detector identifies the set of currently correct robots in the system. Finally, the flocking algorithm handles the movement and reconfiguration of the flock, while maintaining the desired shape. The difficulty of the problem comes from the combination of the three parts, together with the necessity to prevent collisions and allow the rotation of the flock. We formally prove the correctness of our proposed solution.