Mobile robots gathering algorithm with local weak multiplicity in rings

  • Authors:

  • Tomoko Izumi;Taisuke Izumi;Sayaka Kamei;Fukuhito Ooshita

  • Affiliations:

  • College of Information Science and Engineering, Ritsumeikan University, Kusatsu, Japan;Graduate School of Engineering, Nagoya Institute of Technology, Nagoya, Japan;Graduate School of Engineering, Hiroshima University, Higashi-Hiroshima, Japan;Graduate School of Information Science and Technology, Osaka University, Suita, Japan

  • Venue:
  • SIROCCO'10 Proceedings of the 17th international conference on Structural Information and Communication Complexity
  • Year:
  • 2010

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Abstract

The gathering problem of anonymous and oblivious mobile robots is one of fundamental problems in the theoretical mobile robotics. We consider the gathering problem in unoriented and anonymous rings, which requires that all robots gather at a non-predefined node. Since the gathering problem cannot be solved without any additional capability to robots, all the previous works assume some capability of robots, such as accessing the memory on node. In this paper, we focus on the multiplicity capability. This paper presents a deterministic gathering algorithm with local-weak multiplicity, which provides the robot with the information about whether its current node has more than one robot or not. This assumption is strictly weaker than that by previous works. Moreover, we show that our algorithm is asymptotically time-optimal one, that is, the time complexity of our algorithm is O(n), where n is the number of nodes. Interestingly, in spite of assuming the weaker assumption, it achieves significant improvement compared to the previous algorithm, which takes O(kn) time for k robots.