Gathering asynchronous mobile robots with inaccurate compasses

Samia Souissi, Xavier Défago, Masafumi Yamashita

Research output: Chapter in Book/Report/Conference proceedingConference contribution

44 Citations (Scopus)

Abstract

This paper considers a system of asynchronous autonomous mobile robots that can move freely in a two-dimensional plane with no agreement on a common coordinate system. Starting from any initial configuration, the robots are required to eventually gather at a single point, not fixed in advance (gathering problem). Prior work has shown that gathering oblivious (i.e., stateless) robots cannot be achieved deterministically without additional assumptions. In particular, if robots can detect multiplicity (i.e., count robots that share the same location) gathering is possible for three or more robots. Similarly, gathering of any number of robots is possible if they share a common direction, as given by compasses, with no errors. Our work is motivated by the pragmatic standpoint that (1) compasses are error-prone devices in reality, and (2) multiplicity detection, while being easy to achieve, allows for gathering in situations with more than two robots. Consequently, this paper focusses on gathering two asynchronous mobile robots equipped with inaccurate compasses. In particular, we provide a self-stabilizing algorithm to gather, in a finite time, two oblivious robots equipped with compasses that can differ by as much as π/4.

Original languageEnglish
Title of host publicationPrinciples of Distributed Systems - 10th International Conference, OPODIS 2006, Proceedings
Pages333-349
Number of pages17
DOIs
Publication statusPublished - Dec 1 2006
Event10th International Conference on Principles of Distributed Systems, OPODIS 2006 - Bordeaux, France
Duration: Dec 12 2006Dec 15 2006

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume4305 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other10th International Conference on Principles of Distributed Systems, OPODIS 2006
CountryFrance
CityBordeaux
Period12/12/0612/15/06

Fingerprint

Inaccurate
Mobile Robot
Mobile robots
Robot
Robots
Multiplicity
Self-stabilizing Algorithm
Autonomous Mobile Robot
Count
Fixed point
Configuration

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • Computer Science(all)

Cite this

Souissi, S., Défago, X., & Yamashita, M. (2006). Gathering asynchronous mobile robots with inaccurate compasses. In Principles of Distributed Systems - 10th International Conference, OPODIS 2006, Proceedings (pp. 333-349). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4305 LNCS). https://doi.org/10.1007/11945529-24

Gathering asynchronous mobile robots with inaccurate compasses. / Souissi, Samia; Défago, Xavier; Yamashita, Masafumi.

Principles of Distributed Systems - 10th International Conference, OPODIS 2006, Proceedings. 2006. p. 333-349 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4305 LNCS).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Souissi, S, Défago, X & Yamashita, M 2006, Gathering asynchronous mobile robots with inaccurate compasses. in Principles of Distributed Systems - 10th International Conference, OPODIS 2006, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 4305 LNCS, pp. 333-349, 10th International Conference on Principles of Distributed Systems, OPODIS 2006, Bordeaux, France, 12/12/06. https://doi.org/10.1007/11945529-24
Souissi S, Défago X, Yamashita M. Gathering asynchronous mobile robots with inaccurate compasses. In Principles of Distributed Systems - 10th International Conference, OPODIS 2006, Proceedings. 2006. p. 333-349. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). https://doi.org/10.1007/11945529-24
Souissi, Samia ; Défago, Xavier ; Yamashita, Masafumi. / Gathering asynchronous mobile robots with inaccurate compasses. Principles of Distributed Systems - 10th International Conference, OPODIS 2006, Proceedings. 2006. pp. 333-349 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).
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