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Gathering of Mobile Robots with Defected Views

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

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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

Funding

This work was supported in part by JSPS KAKENHI Grant Numbers 18K18031, 19H04085, 19K11823, 20H04140, 20KK0232, 21K17706, 22K11971, and Foundation of Public Interest of Tatematsu.

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Yonghwan Kim, Masahiro Shibata, Yuichi Sudo, Junya Nakamura, Yoshiaki Katayama, and Toshimitsu Masuzawa. Gathering of Mobile Robots with Defected Views. In 26th International Conference on Principles of Distributed Systems (OPODIS 2022). Leibniz International Proceedings in Informatics (LIPIcs), Volume 253, pp. 14:1-14:18, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2023)
https://doi.org/10.4230/LIPIcs.OPODIS.2022.14

Abstract

An autonomous mobile robot system consisting of many mobile computational entities (called robots) attracts much attention of researchers, and it is an emerging issue for a recent couple of decades to clarify the relation between the capabilities of robots and solvability of the problems. Generally, each robot can observe all other robots as long as there are no restrictions on visibility range or obstructions, regardless of the number of robots. 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 call this new computational model the defected view model. Under this model, in this paper, we consider the gathering problem that requires all the robots to gather at the same non-predetermined point and propose two algorithms to solve the gathering problem in the adversarial (N,N-2)-defected model for N ≥ 5 (where each robot observes at most N-2 robots chosen adversarially) and the distance-based (4,2)-defected model (where each robot observes at most two robots closest to itself), respectively, where N is the number of robots. Moreover, we present an impossibility result showing that there is no (deterministic) gathering algorithm in the adversarial or distance-based (3,1)-defected model, and we also show an impossibility result for the gathering in a relaxed (N, N-2)-defected model.

Subject Classification

ACM Subject Classification
  • Theory of computation → Self-organization
Keywords
  • mobile robot
  • gathering
  • defected view model

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References

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