eng
Schloss Dagstuhl – Leibniz-Zentrum für Informatik
Leibniz International Proceedings in Informatics
1868-8969
2020-02-11
27:1
27:17
10.4230/LIPIcs.OPODIS.2019.27
article
Gathering on Rings for Myopic Asynchronous Robots With Lights
Kamei, Sayaka
1
Lamani, Anissa
2
Ooshita, Fukuhito
3
Tixeuil, Sébastien
4
Wada, Koichi
5
Graduate School of Engineering, Hiroshima University, Japan
Ecole internationale des sciences du traitement de l'information, Cergy, France
Graduate School of Science and Technology, Nara Institute of Science and Technology, Japan
Sorbonne University, Paris, France
Faculty of Science and Engineering, Hosei University, Japan
We investigate gathering algorithms for asynchronous autonomous mobile robots moving in uniform ring-shaped networks. Different from most work using the Look-Compute-Move (LCM) model, we assume that robots have limited visibility and lights. That is, robots can observe nodes only within a certain fixed distance, and emit a color from a set of constant number of colors. We consider gathering algorithms depending on two parameters related to the initial configuration: M_{init}, which denotes the number of nodes between two border nodes, and O_{init}, which denotes the number of nodes hosting robots between two border nodes. In both cases, a border node is a node hosting one or more robots that cannot see other robots on at least one side. Our main contribution is to prove that, if M_{init} or O_{init} is odd, gathering is always feasible with three or four colors. The proposed algorithms do not require additional assumptions, such as knowledge of the number of robots, multiplicity detection capabilities, or the assumption of towerless initial configurations. These results demonstrate the power of lights to achieve gathering of robots with limited visibility.
https://drops.dagstuhl.de/storage/00lipics/lipics-vol153-opodis2019/LIPIcs.OPODIS.2019.27/LIPIcs.OPODIS.2019.27.pdf
LCM robot system
ASYNC schedulers
myopic
luminous
ring networks