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
Fault-tolerant gathering algorithms for autonomous mobile robots
SODA '04 Proceedings of the fifteenth annual ACM-SIAM symposium on Discrete algorithms
Convergence Properties of the Gravitational Algorithm in Asynchronous Robot Systems
SIAM Journal on Computing
Local strategies for maintaining a chain of relay stations between an explorer and a base station
Proceedings of the nineteenth annual ACM symposium on Parallel algorithms and architectures
Impossibility of gathering by a set of autonomous mobile robots
Theoretical Computer Science
Optimal strategies for maintaining a chain of relays between an explorer and a base camp
Theoretical Computer Science
Self-stabilizing Deterministic Gathering
Algorithmic Aspects of Wireless Sensor Networks
A local O(n2) gathering algorithm
Proceedings of the twenty-second annual ACM symposium on Parallelism in algorithms and architectures
A tight runtime bound for synchronous gathering of autonomous robots with limited visibility
Proceedings of the twenty-third annual ACM symposium on Parallelism in algorithms and architectures
Energy-efficient strategies for building short chains of mobile robots locally
SIROCCO'11 Proceedings of the 18th international conference on Structural information and communication complexity
Gathering asynchronous mobile robots with inaccurate compasses
OPODIS'06 Proceedings of the 10th international conference on Principles of Distributed Systems
A continuous, local strategy for constructing a short chain of mobile robots
SIROCCO'10 Proceedings of the 17th international conference on Structural Information and Communication Complexity
Gathering autonomous mobile robots with dynamic compasses: an optimal result
DISC'07 Proceedings of the 21st international conference on Distributed Computing
Energy-efficient strategies for building short chains of mobile robots locally
SIROCCO'11 Proceedings of the 18th international conference on Structural information and communication complexity
Local, self-organizing strategies for robotic formation problems
ALGOSENSORS'11 Proceedings of the 7th international conference on Algorithms for Sensor Systems, Wireless Ad Hoc Networks and Autonomous Mobile Entities
Continuous local strategies for robotic formation problems
SEA'12 Proceedings of the 11th international conference on Experimental Algorithms
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We are given a winding chain of n mobile robots between two stations in the plane, each of them having a limited viewing range. It is only guaranteed that each robot can see its two neighbors in the chain. The goal is to let the robots converge to the line between the stations. We use a discrete and synchronous time model, but we restrict the movement of each mobile robot to a distance of δ in each round. This restriction fills the gap between the previously used discrete time model with an unbounded step length and the continuous time model which was introduced in [1]. We adapt the strategy by Dynia et al. [2]: In each round, each robot first observes the positions of its neighbors and then moves towards the midpoint between them until it reaches the point or has moved a distance of δ. The main energy consumers in this scenario are the number observations of positions of neighbors, which equals the number of rounds, and the distance to be traveled by the robots. We analyze the strategy with respect to both quality measures and provide asymptotically tight bounds. We show that the best choice for δ for this strategy is δ ∈ Θ (1/n), since this minimizes (up to constant factors) both energy consumers, the number of rounds as well as the maximum traveled distance, at the same time.