Voronoi diagrams—a survey of a fundamental geometric data structure
ACM Computing Surveys (CSUR)
Distributed Anonymous Mobile Robots: Formation of Geometric Patterns
SIAM Journal on Computing
Circle formation for oblivious anonymous mobile robots with no common sense of orientation
Proceedings of the second ACM international workshop on Principles of mobile computing
ISAAC '99 Proceedings of the 10th International Symposium on Algorithms and Computation
Erratum: Distributed Anonymous Mobile Robots: Formation of Geometric Patterns
SIAM Journal on Computing
Deaf, Dumb, and Chatting Asynchronous Robots
OPODIS '09 Proceedings of the 13th International Conference on Principles of Distributed Systems
Solving the robots gathering problem
ICALP'03 Proceedings of the 30th international conference on Automata, languages and programming
On the feasibility of gathering by autonomous mobile robots
SIROCCO'05 Proceedings of the 12th international conference on Structural Information and Communication Complexity
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This paper introduces the RoboCast communication abstraction. The RoboCast allows a swarm of non oblivious, anonymous robots that are only endowed with visibility sensors and do not share a common coordinate system, to asynchronously exchange information. We propose a generic framework that covers a large class of asynchronous communication algorithms and show how our framework can be used to implement fundamental building blocks in robot networks such as gathering or stigmergy. In more details, we propose a RoboCast algorithm that allows robots to broadcast their local coordinate systems to each others. Our algorithm is further refined with a local collision avoidance scheme. Then, using the RoboCast primitive, we propose algorithms for deterministic asynchronous gathering and binary information exchange.