Fault-tolerant gathering algorithms for autonomous mobile robots
SODA '04 Proceedings of the fifteenth annual ACM-SIAM symposium on Discrete algorithms
Distributed Computing: Fundamentals, Simulations and Advanced Topics
Distributed Computing: Fundamentals, Simulations and Advanced Topics
Gathering of asynchronous robots with limited visibility
Theoretical Computer Science
Gathering few fat mobile robots in the plane
Theoretical Computer Science
Collisionless gathering of robots with an extent
SOFSEM'11 Proceedings of the 37th international conference on Current trends in theory and practice of computer science
Distributed Algorithms for Cooperative Mobile Robots: A Survey
ICNC '11 Proceedings of the 2011 Second International Conference on Networking and Computing
Gathering asynchronous transparent fat robots
ICDCIT'10 Proceedings of the 6th international conference on Distributed Computing and Internet Technology
Circle formation by asynchronous fat robots with limited visibility
ICDCIT'12 Proceedings of the 8th international conference on Distributed Computing and Internet Technology
Gathering of fat robots with limited visibility and without global navigation
SIDE'12 Proceedings of the 2012 international conference on Swarm and Evolutionary Computation
Gathering an even number of robots in an odd ring without global multiplicity detection
MFCS'12 Proceedings of the 37th international conference on Mathematical Foundations of Computer Science
Distributed Computing by Oblivious Mobile Robots
Distributed Computing by Oblivious Mobile Robots
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We revisit the problem of gathering autonomous robots in the plane. In particular, we consider non-transparent unit-disc robots (i.e., fat) in an asynchronous setting with vision as the only means of coordination and robots only make local decisions. We use a state-machine representation to formulate the gathering problem and develop a distributed algorithm that solves the problem for any number of fat robots. The main idea behind the algorithm is to enforce the robots to reach a configuration in which all the following hold: (i) The robots' centers form a convex hull in which all robots are on the convex hull's boundary; (ii) Each robot can see all other robots; (iii) The configuration is connected: every robot touches another robot and all robots form together a connected formation. We show that starting from any initial configuration, the fat robots eventually reach such a configuration and terminate yielding a solution to the gathering problem.