Brief Announcement: Gathering Despite Defected View

Authors Yonghwan Kim , Masahiro Shibata , Yuichi Sudo , Junya Nakamura , Yoshiaki Katayama , Toshimitsu Masuzawa

Thumbnail PDF


  • Filesize: 0.51 MB
  • 3 pages

Document Identifiers

Author Details

Yonghwan Kim
  • Nagoya Institute of Technology, Aichi, Japan
Masahiro Shibata
  • Kyushu Institute of Technology, Fukuoka, Japan
Yuichi Sudo
  • Hosei University, Tokyo, Japan
Junya Nakamura
  • Toyohashi University of Technology, Aichi, Japan
Yoshiaki Katayama
  • Nagoya Institute of Technology, Aichi, Japan
Toshimitsu Masuzawa
  • Osaka University, Japan

Cite AsGet BibTex

Yonghwan Kim, Masahiro Shibata, Yuichi Sudo, Junya Nakamura, Yoshiaki Katayama, and Toshimitsu Masuzawa. Brief Announcement: Gathering Despite Defected View. In 36th International Symposium on Distributed Computing (DISC 2022). Leibniz International Proceedings in Informatics (LIPIcs), Volume 246, pp. 46:1-46:3, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2022)


In this paper, we provide a new perspective on the observation by robots; a robot cannot necessarily observe all other robots regardless of distances to them. We introduce a new computational model with defected views called a (N,k)-defected model where k robots among N-1 other robots can be observed. We propose two gathering algorithms: one in the adversarial (N,N-2)-defected model for N ≥ 5 (where N is the number of robots) and the other in the distance-based (4,2)-defected model. Moreover, we present two impossibility results for a (3,1)-defected model and a relaxed (N, N-2)-defected model respectively. This announcement is short; the full paper is available at [Yonghwan Kim and others, 2022].

Subject Classification

ACM Subject Classification
  • Computing methodologies → Self-organization
  • mobile robot
  • gathering
  • defected view model


  • Access Statistics
  • Total Accesses (updated on a weekly basis)
    PDF Downloads


  1. Yonghwan Kim et al. Gathering despite defected view, 2022. URL:
  2. Ichiro Suzuki and Masafumi Yamashita. Distributed Anonymous Mobile Robots: Formation of Geometric Patterns. SIAM J. Comput., 28(4):1347-1363, 1999. Google Scholar