Distributed Anonymous Mobile Robots: Formation of Geometric Patterns
SIAM Journal on Computing
Message-optimal connected dominating sets in mobile ad hoc networks
Proceedings of the 3rd ACM international symposium on Mobile ad hoc networking & computing
Topology control and routing in ad hoc networks: a survey
ACM SIGACT News
Worst case mobility in ad hoc networks
Proceedings of the fifteenth annual ACM symposium on Parallel algorithms and architectures
Distributed low-cost backbone formation for wireless ad hoc networks
Proceedings of the 6th ACM international symposium on Mobile ad hoc networking and computing
Convergence Properties of the Gravitational Algorithm in Asynchronous Robot Systems
SIAM Journal on Computing
Mobility control and its applications in mobile ad hoc networks
IEEE Network: The Magazine of Global Internetworking
Optimal placement of UV-based communications relay nodes
Journal of Global Optimization
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
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
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
Survey: A survey on relay placement with runtime and approximation guarantees
Computer Science Review
Continuous local strategies for robotic formation problems
SEA'12 Proceedings of the 11th international conference on Experimental Algorithms
Energy-efficient strategies for building short chains of mobile robots locally
Theoretical Computer Science
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We discuss strategies for maintaining connectivity in a system consisting of a stationary base station and a mobile explorer. For this purpose we introduce the concept of mobile relay stations, which form a chain between the base station and the explorer and forward all communication. In order to cope with the mobility of the explorer, relay stations must adapt their positions. We investigate strategies which allow the relay stations to self-organize in order to maintain a chain of small length. For a plane without obstacles, the optimal positions are on a line connecting the base station with the explorer; in a setting with obstacles it is a curve around some of the obstacles. Our goal is to keep the relay stations as close to this line/curve as possible. A crucial requirement for strategies is that they are able to work with imprecise or without localization and odometry information. Furthermore, strategies should be local, i.e., relay stations should not need to know about the state of the system as a whole. The performance measures for strategies are the number of relay stations used (in comparision to the optimal number) and the allowed speed of the explorer (in comparision to its maximum attainable speed). We contribute by analyzing the performance of an already known strategy Go-To-The-Middle. This strategy assumes a very weak robot model and needs hardly any localization information, but sacrifices perfomance. Our main contribution is a new strategy, the Chase-Explorer strategy, and its analysis. It needs more advanced robots than Go-To-The-Middle, but achieves near-optimal performance. We further extend it to exploring terrains with obstacles.