Gathering of Mobile Robots with Defected Views

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



PDF
Thumbnail PDF

File

LIPIcs.OPODIS.2022.14.pdf
  • Filesize: 1.23 MB
  • 18 pages

Document Identifiers

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

Cite AsGet BibTex

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

Metrics

  • Access Statistics
  • Total Accesses (updated on a weekly basis)
    0
    PDF Downloads

References

  1. Hideki Ando, Yoshinobu Oasa, Ichiro Suzuki, and Masafumi Yamashita. Distributed memoryless point convergence algorithm for mobile robots with limited visibility. IEEE Trans. Robotics Autom., 15(5):818-828, 1999. URL: https://doi.org/10.1109/70.795787.
  2. Zohir Bouzid, Shantanu Das, and Sébastien Tixeuil. Gathering of mobile robots tolerating multiple crash faults. In IEEE 33rd International Conference on Distributed Computing Systems, ICDCS, pages 337-346. IEEE Computer Society, 2013. URL: https://doi.org/10.1109/ICDCS.2013.27.
  3. Avik Chatterjee, Sruti Gan Chaudhuri, and Krishnendu Mukhopadhyaya. Gathering asynchronous swarm robots under nonuniform limited visibility. In Distributed Computing and Internet Technology - 11th International Conference, ICDCIT, volume 8956 of Lecture Notes in Computer Science, pages 174-180. Springer, 2015. URL: https://doi.org/10.1007/978-3-319-14977-6_11.
  4. Mark Cieliebak, Paola Flocchini, Giuseppe Prencipe, and Nicola Santoro. Solving the Robots Gathering Problem. In Proceedings of the 30th International Colloquium on Automata, Languages and Programming, ICALP, pages 1181-1196. Springer, 2003. URL: https://doi.org/10.1007/3-540-45061-0_90.
  5. Gianlorenzo D'Angelo, Gabriele Di Stefano, Ralf Klasing, and Alfredo Navarra. Gathering of robots on anonymous grids and trees without multiplicity detection. Theor. Comput. Sci., 610:158-168, 2016. URL: https://doi.org/10.1016/j.tcs.2014.06.045.
  6. Xavier Défago, Maria Gradinariu, Stéphane Messika, and Philippe Raipin Parvédy. Fault-Tolerant and Self-stabilizing Mobile Robots Gathering. In Proceedings of the 20th International Symposium on Distributed Computing, DISC, pages 46-60. Springer, 2006. URL: https://doi.org/10.1007/11864219_4.
  7. Paola Flocchini, Giuseppe Prencipe, Nicola Santoro, and Peter Widmayer. Gathering of Asynchronous Oblivious Robots with Limited Visibility. In Proceedings of the 18th Annual Symposium on Theoretical Aspects of Computer Science, STACS, pages 247-258. Springer, 2001. URL: https://doi.org/10.1007/3-540-44693-1_22.
  8. Adam Heriban and Sébastien Tixeuil. Mobile robots with uncertain visibility sensors: Possibility results and lower bounds. Parallel Process. Lett., 31(1):2150002:1-2150002:21, 2021. URL: https://doi.org/10.1142/S012962642150002X.
  9. Nobuhiro Inuzuka, Yuichi Tomida, Taisuke Izumi, Yoshiaki Katayama, and Koichi Wada. Gathering Problem of Two Asynchronous Mobile Robots with Semi-dynamic Compasses. In Proceedings of the 15th International Colloquium on Structural Information and Communication Complexity, SIROCCO, pages 5-19. Springer, 2008. URL: https://doi.org/10.1007/978-3-540-69355-0_3.
  10. Taisuke Izumi, Yoshiaki Katayama, Nobuhiro Inuzuka, and Koichi Wada. Gathering Autonomous Mobile Robots with Dynamic Compasses: An Optimal Result. In Proceedings of the 21st International Symposium on Distributed Computing, DISC, pages 298-312. Springer, 2007. URL: https://doi.org/10.1007/978-3-540-75142-7_24.
  11. Yoshiaki Katayama, Yuichi Tomida, Hiroyuki Imazu, Nobuhiro Inuzuka, and Koichi Wada. Dynamic Compass Models and Gathering Algorithms for Autonomous Mobile Robots. In Proceedings of the 14th International Colloquium on Structural Information and Communication Complexity, SIROCCO, pages 274-288. Springer, 2007. URL: https://doi.org/10.1007/978-3-540-72951-8_22.
  12. David G. Kirkpatrick, Irina Kostitsyna, Alfredo Navarra, Giuseppe Prencipe, and Nicola Santoro. Separating bounded and unbounded asynchrony for autonomous robots: Point convergence with limited visibility. In PODC '21: ACM Symposium on Principles of Distributed Computing, pages 9-19. ACM, 2021. URL: https://doi.org/10.1145/3465084.3467910.
  13. Ralf Klasing, Euripides Markou, and Andrzej Pelc. Gathering asynchronous oblivious mobile robots in a ring. Theor. Comput. Sci., 390(1):27-39, 2008. URL: https://doi.org/10.1016/j.tcs.2007.09.032.
  14. Giuseppe Antonio Di Luna, Ryuhei Uehara, Giovanni Viglietta, and Yukiko Yamauchi. Gathering on a circle with limited visibility by anonymous oblivious robots. In 34th International Symposium on Distributed Computing, DISC, volume 179 of LIPIcs, pages 12:1-12:17. Schloss Dagstuhl - Leibniz-Zentrum für Informatik, 2020. URL: https://doi.org/10.4230/LIPIcs.DISC.2020.12.
  15. Debasish Pattanayak, Kaushik Mondal, H. Ramesh, and Partha Sarathi Mandal. Fault-tolerant gathering of mobile robots with weak multiplicity detection. In Proceedings of the 18th International Conference on Distributed Computing and Networking, page 7. ACM, 2017. URL: http://dl.acm.org/citation.cfm?id=3007786.
  16. Giuseppe Prencipe. On the feasibility of gathering by autonomous mobile robots. In Proceedings of the 12th International Colloquium on Structural Information and Communication Complexity, SIROCCO, pages 246-261. Springer, 2005. URL: https://doi.org/10.1007/11429647_20.
  17. Giuseppe Prencipe. Impossibility of gathering by a set of autonomous mobile robots. Theor. Comput. Sci., 384(2-3):222-231, 2007. URL: https://doi.org/10.1016/j.tcs.2007.04.023.
  18. Giuseppe Prencipe. Autonomous Mobile Robots: A Distributed Computing Perspective. In Proceedings of the 9th International Symposium on Algorithms and Experiments for Sensor Systems, Wireless Networks and Distributed Robotics, ALGOSENSORS, pages 6-21. Springer, 2013. URL: https://doi.org/10.1007/978-3-642-45346-5_2.
  19. Giuseppe Prencipe and Nicola Santoro. Distributed Algorithms for Autonomous Mobile Robots. In Proceedings of Fourth IFIP International Conference on Theoretical Computer Science, TCS, pages 47-62. Springer, 2006. URL: https://doi.org/10.1007/978-0-387-34735-6_8.
  20. Samia Souissi, Xavier Défago, and Masafumi Yamashita. Gathering Asynchronous Mobile Robots with Inaccurate Compasses. In Proceedings of the 10th International Conference on Principles of Distributed Systems, OPODIS, pages 333-349. Springer, 2006. URL: https://doi.org/10.1007/11945529_24.
  21. Ichiro Suzuki and Masafumi Yamashita. Distributed Anonymous Mobile Robots: Formation of Geometric Patterns. SIAM J. Comput., 28(4):1347-1363, 1999. URL: https://doi.org/10.1137/S009753979628292X.
Questions / Remarks / Feedback
X

Feedback for Dagstuhl Publishing


Thanks for your feedback!

Feedback submitted

Could not send message

Please try again later or send an E-mail