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Computational Power of Opaque Robots

Authors Caterina Feletti , Lucia Mambretti , Carlo Mereghetti , Beatrice Palano

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Author Details

Caterina Feletti
  • Dipartimento di Informatica, Università degli Studi di Milano, Milan, Italy
Lucia Mambretti
  • Milan, Italy
Carlo Mereghetti
  • Dipartimento di Informatica, Università degli Studi di Milano, Milan, Italy
Beatrice Palano
  • Dipartimento di Informatica, Università degli Studi di Milano, Milan, Italy

Acknowledgements

C. Feletti, C. Mereghetti, and B. Palano are members of the Gruppo Nazionale Calcolo Scientifico-Istituto Nazionale di Alta Matematica (GNCS-INdAM). The authors thank the anonymous referees for their helpful comments which contributed to improving the paper.

Cite AsGet BibTex

Caterina Feletti, Lucia Mambretti, Carlo Mereghetti, and Beatrice Palano. Computational Power of Opaque Robots. In 3rd Symposium on Algorithmic Foundations of Dynamic Networks (SAND 2024). Leibniz International Proceedings in Informatics (LIPIcs), Volume 292, pp. 13:1-13:19, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2024)
https://doi.org/10.4230/LIPIcs.SAND.2024.13

Abstract

In the field of distributed computing by robot swarms, the research comprehends manifold models where robots operate in the Euclidean plane through a sequence of look-compute-move cycles. Models under study differ for (i) the possibility of storing constant-size information, (ii) the possibility of communicating constant-size information, and (iii) the synchronization mode. By varying features (i,ii), we obtain the noted four base models: OBLOT (silent and oblivious robots), FSTA (silent and finite-state robots), FCOM (oblivious and finite-communication robots), and LUMI (finite-state and finite-communication robots). Combining each base model with the three main synchronization modes (fully synchronous, semi-synchronous, and asynchronous), we obtain the well-known 12 models. Extensive research has studied their computational power, proving the hierarchical relations between different models. However, only transparent robots have been considered. In this work, we study the taxonomy of the 12 models considering collision-intolerant opaque robots. We present six witness problems that prove the majority of the computational relations between the 12 models. In particular, the last witness problem depicts a peculiar issue occurring in the case of obstructed visibility and asynchrony.

Subject Classification

ACM Subject Classification
  • Theory of computation → Distributed algorithms
Keywords
  • Mobile robots
  • Look-Compute-Move
  • Computational complexity
  • Opaque robots
  • Distributed computing
  • Obstructed visibility
  • Collision intolerance

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