LIPIcs.SoCG.2022.65.pdf
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Space Ants: Episode II - Coordinating Connected Catoms (Media Exposition)
Authors
Julien Bourgeois 
,
Sándor P. Fekete ,
Ramin Kosfeld ,
Peter Kramer ,
Benoît Piranda ,
Christian Rieck ,
Christian Scheffer
-
Part of:
Volume:
38th International Symposium on Computational Geometry (SoCG 2022)
Series: Leibniz International Proceedings in Informatics (LIPIcs)
Conference: Symposium on Computational Geometry (SoCG) - License:
Creative Commons Attribution 4.0 International license
- Publication Date: 2022-06-01
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Document Identifiers
Author Details
- FEMTO-ST Institute, University of Bourgogne Franche-Comté, CNRS, Montbeliard, France
Cite AsGet BibTex
Julien Bourgeois, Sándor P. Fekete, Ramin Kosfeld, Peter Kramer, Benoît Piranda, Christian Rieck, and Christian Scheffer. Space Ants: Episode II - Coordinating Connected Catoms (Media Exposition). In 38th International Symposium on Computational Geometry (SoCG 2022). Leibniz International Proceedings in Informatics (LIPIcs), Volume 224, pp. 65:1-65:6, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2022)
https://doi.org/10.4230/LIPIcs.SoCG.2022.65
https://doi.org/10.4230/LIPIcs.SoCG.2022.65
Abstract
How can a set of identical mobile agents coordinate their motions to transform their arrangement from a given starting to a desired goal configuration? We consider this question in the context of actual physical devices called Catoms, which can perform reconfiguration, but need to maintain connectivity at all times to ensure communication and energy supply. We demonstrate and animate algorithmic results, in particular a proof of hardness, as well as an algorithm that guarantees constant stretch for certain classes of arrangements: If mapping the start configuration to the target configuration requires a maximum Manhattan distance of d, then the total duration of our overall schedule is in 𝒪(d), which is optimal up to constant factors.
Subject Classification
ACM Subject Classification
- Theory of computation → Computational geometry
- Computing methodologies → Motion path planning
Keywords
- Motion planning
- parallel motion
- bounded stretch
- scaled shape
- makespan
- connectivity
- swarm robotics
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References
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