Distributed Anonymous Mobile Robots: Formation of Geometric Patterns
SIAM Journal on Computing
Convergence Properties of the Gravitational Algorithm in Asynchronous Robot Systems
SIAM Journal on Computing
Gathering asynchronous oblivious mobile robots in a ring
Theoretical Computer Science
Theoretical Computer Science
Arbitrary pattern formation by asynchronous, anonymous, oblivious robots
Theoretical Computer Science
A Self-stabilizing Marching Algorithm for a Group of Oblivious Robots
OPODIS '08 Proceedings of the 12th International Conference on Principles of Distributed Systems
Taking Advantage of Symmetries: Gathering of Asynchronous Oblivious Robots on a Ring
OPODIS '08 Proceedings of the 12th International Conference on Principles of Distributed Systems
Remembering without memory: Tree exploration by asynchronous oblivious robots
Theoretical Computer Science
Solving the robots gathering problem
ICALP'03 Proceedings of the 30th international conference on Automata, languages and programming
Computing without communicating: ring exploration by asynchronous oblivious robots
OPODIS'07 Proceedings of the 11th international conference on Principles of distributed systems
Characterizing geometric patterns formable by oblivious anonymous mobile robots
Theoretical Computer Science
Optimal probabilistic ring exploration by semi-synchronous oblivious robots
SIROCCO'09 Proceedings of the 16th international conference on Structural Information and Communication Complexity
How many oblivious robots can explore a line
Information Processing Letters
Observe and remain silent (communication-less agent location discovery)
MFCS'12 Proceedings of the 37th international conference on Mathematical Foundations of Computer Science
Optimal probabilistic ring exploration by semi-synchronous oblivious robots
Theoretical Computer Science
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In this paper we investigate the basic problem of Exploration of a graph by a group of identical mobile computational entities, called robots, operating autonomously and asynchronously. In particular we are concerned with what graphs can be explored, and how, if the robots do not remember the past and have no explicit means of communication. This model of robots is used when the spatial universe in which the robots operate is continuous (e.g., a curve, a polygonal region, a plane, etc.). The case when the spatial universe is discrete (i.e., a graph) has been also studied but only for the classes of acyclic graphs and of simple cycles. In this paper we consider networks of arbitrary topology modeled as connected graphs with local orientation (locally distinct edge labels). We concentrate on class Hk of asymmetric configurations with k robots. Our results indicate that the explorability of graphs in this class depends on the number k of robots participating in the exploration. In particular, exploration is impossible for k k = 3 robots, only a subset of H3 can be explored; we provide a complete characterization of the networks that can be explored. When there are k = 4 robots, we prove that all networks in H4 can be explored. Finally, we prove that for any odd k 4 all networks in Hk can be explored by presenting a general algorithm. The determination of which networks can be explored when k 4 is even, is still open but can be reduced to the existence of a gathering algorithm for Hk.