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Crash-Tolerant Perpetual Exploration with Myopic Luminous Robots on Rings

Authors Fukuhito Ooshita , Naoki Kitamura , Ryota Eguchi , Michiko Inoue , Hirotsugu Kakugawa , Sayaka Kamei , Masahiro Shibata , Yuichi Sudo

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Subject Classification

ACM Subject Classification
  • Theory of computation → Distributed algorithms
Keywords
  • mobile robots
  • crash faults
  • LCM model
  • exploration

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Abstract

We investigate crash-tolerant perpetual exploration algorithms by myopic luminous robots on ring networks. Myopic robots mean that they can observe nodes only within a certain fixed distance ϕ, and luminous robots mean that they have light devices that can emit a color from a set of colors. The goal of perpetual exploration is to ensure that robots, starting from specific initial positions and colors, move in such a way that every node is visited by at least one robot infinitely often. As a main contribution, we clarify the tight necessary and sufficient number of robots to realize perpetual exploration when at most f robots crash. In the fully synchronous model, we prove that f+2 robots are necessary and sufficient for any ϕ ≥ 1. In the semi-synchronous and asynchronous models, we prove that 3f+3 (resp., 2f+2) robots are necessary and sufficient if ϕ = 1 (resp., ϕ ≥ 2).

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Fukuhito Ooshita, Naoki Kitamura, Ryota Eguchi, Michiko Inoue, Hirotsugu Kakugawa, Sayaka Kamei, Masahiro Shibata, and Yuichi Sudo. Crash-Tolerant Perpetual Exploration with Myopic Luminous Robots on Rings. In 28th International Conference on Principles of Distributed Systems (OPODIS 2024). Leibniz International Proceedings in Informatics (LIPIcs), Volume 324, pp. 12:1-12:16, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2024) https://doi.org/10.4230/LIPIcs.OPODIS.2024.12

Author Details

Fukuhito Ooshita
  • Fukui University of Technology, Japan
Naoki Kitamura
  • Osaka University, Japan
Ryota Eguchi
  • Nara Institute of Science and Technology, Japan
Michiko Inoue
  • Nara Institute of Science and Technology, Japan
Hirotsugu Kakugawa
  • Ryukoku University, Shiga, Japan
Sayaka Kamei
  • Hiroshima University, Japan
Masahiro Shibata
  • Kyushu Institute of Technology, Fukuoka, Japan
Yuichi Sudo
  • Hosei University, Tokyo, Japan

Funding

  • Ooshita, Fukuhito: JSPS KAKENHI 22K11903
  • Kitamura, Naoki: JSPS KAKENHI 23K16838
  • Kakugawa, Hirotsugu: JSPS KAKENHI 23K11059
  • Kamei, Sayaka: JSPS KAKENHI 23K28037
  • Shibata, Masahiro: JSPS KAKENHI 20KK0232
  • Sudo, Yuichi: JSPS KAKENHI 20H04140 and 20KK0232, and JST FOREST Program JPMJFR226U

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