Formation and agreement problems for synchronous mobile robots with limited visibility

Hideki Ando, Ichiro Suzuki, Masafumi Yamashita

Research output: Contribution to conferencePaper

79 Citations (Scopus)

Abstract

We discuss fundamental formation and agreement problems for autonomous, synchronous robots with limited visibility. Each robots is a mobile processor that, at each discrete time instant, observes the relative positions of those robots that are within distance V of itself, computes its new position using the given algorithm, and then moves to that position. The main difference between this work and many of the previous ones is that, here, the visibility of the robots is assumed to be limited to within distance V, for some constant V > 0. The problems we discuss include the formation of a single point by the robots and agreement on a common x-y coordinate system and the initial distribution, and we present algorithms for these problems, except for the problem of agreement on direction (a subproblem of agreement on a coordinate system), which is not solvable even for robots with unlimited visibility. The discussions we present indicate that the correctness proofs of the algorithms for robots with limited visibility can be considerably more complex than those for robots with unlimited visibility.

Original languageEnglish
Pages453-460
Number of pages8
Publication statusPublished - Jan 1 1995
EventProceedings of the 10th IEEE International Symposium on Intelligent Control - Monterey, CA, USA
Duration: Aug 27 1995Aug 29 1995

Other

OtherProceedings of the 10th IEEE International Symposium on Intelligent Control
CityMonterey, CA, USA
Period8/27/958/29/95

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Ando, H., Suzuki, I., & Yamashita, M. (1995). Formation and agreement problems for synchronous mobile robots with limited visibility. 453-460. Paper presented at Proceedings of the 10th IEEE International Symposium on Intelligent Control, Monterey, CA, USA, .