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Documents authored by Feletti, Caterina

Document
Brief Announcement
DOI: 10.4230/LIPIcs.DISC.2025.56
Brief Announcement: Universal Dancing by Luminous Robots Under Sequential Schedulers

Authors: Caterina Feletti, Paola Flocchini, Debasish Pattanayak, Giuseppe Prencipe, and Nicola Santoro

Published in: LIPIcs, Volume 356, 39th International Symposium on Distributed Computing (DISC 2025)

Abstract
The Dancing problem requires a swarm of n autonomous mobile robots to form a sequence of patterns, aka perform a choreography. Existing work has proven that some crucial restrictions on choreographies and initial configurations (e.g., on repetitions of patterns, periodicity, symmetries, contractions/expansions) must hold so that the Dancing problem can be solved under certain robot models. Here, we prove that these necessary constraints can be dropped by considering the LUMI model (i.e., where robots are endowed with a light whose color can be chosen from a constant-size palette) under the quite unexplored sequential scheduler. We formalize the class of Universal Dancing problems which require a swarm of n robots starting from any initial configuration to perform a (periodic or finite) sequence of arbitrary patterns, only provided that each pattern consists of n vertices (including multiplicities). However, we prove that, to be solvable under LUMI, the length of the feasible choreographies is bounded by the compositions of n into the number of colors available to the robots. We provide an algorithm solving the Universal Dancing problem by exploiting the peculiar capability of sequential robots to implement a distributed counter mechanism. Even assuming non-rigid movements, our algorithm ensures spatial homogeneity of the performed choreography.
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Caterina Feletti, Paola Flocchini, Debasish Pattanayak, Giuseppe Prencipe, and Nicola Santoro. Brief Announcement: Universal Dancing by Luminous Robots Under Sequential Schedulers. In 39th International Symposium on Distributed Computing (DISC 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 356, pp. 56:1-56:7, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

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@InProceedings{feletti_et_al:LIPIcs.DISC.2025.56,
  author =	{Feletti, Caterina and Flocchini, Paola and Pattanayak, Debasish and Prencipe, Giuseppe and Santoro, Nicola},
  title =	{{Brief Announcement: Universal Dancing by Luminous Robots Under Sequential Schedulers}},
  booktitle =	{39th International Symposium on Distributed Computing (DISC 2025)},
  pages =	{56:1--56:7},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-402-4},
  ISSN =	{1868-8969},
  year =	{2025},
  volume =	{356},
  editor =	{Kowalski, Dariusz R.},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.DISC.2025.56},
  URN =		{urn:nbn:de:0030-drops-248724},
  doi =		{10.4230/LIPIcs.DISC.2025.56},
  annote =	{Keywords: Luminous Robots, Sequence of Patterns, Pattern Formation, Sequential Scheduler}
}
Document
DOI: 10.4230/LIPIcs.SAND.2025.10
Fault Detection and Identification by Autonomous Mobile Robots

Authors: Stefano Clemente and Caterina Feletti

Published in: LIPIcs, Volume 330, 4th Symposium on Algorithmic Foundations of Dynamic Networks (SAND 2025)

Abstract
The Look-Compute-Move model (LCM) is adopted to study swarms of mobile robots that have to solve a given problem. Robots are generally assumed to be autonomous, indistinguishable, anonymous, homogeneous and to move on the Euclidean plane. Different LCM sub-models have been theorized to study different settings and their computational power. Notably, the literature has focused on four base models (i.e., OBLOT, FSTA, FCOM, LUMI) that differ in memory and communication capabilities, and in different synchronization modes (e.g., fully synchronous FSYNCH, semi-synchronous SSYNCH). In this paper, we consider fault-prone models where robots can suffer from crash faults: each robot may irremediably stop working after an unpredictable time. We study the general Fault Detection (FD) problem which is solved by a swarm if it correctly detects whether a faulty robot exists in the swarm. The Fault Identification (FI) problem additionally requires identifying which robots are faulty. We consider 12 LCM sub-models (OBLOT, FSTA, FCOM, LUMI, combined with FSYNCH, SSYNCH, and the round-robin RROBIN) and we study the (im)possibility of designing reliable procedures to solve FD or FI. In particular, we propose three distributed algorithms so that a swarm can collectively solve FD under the models LUMI^FSYNCH, FCOM^FSYNCH, and LUMI^RROBIN.
Cite as

Stefano Clemente and Caterina Feletti. Fault Detection and Identification by Autonomous Mobile Robots. In 4th Symposium on Algorithmic Foundations of Dynamic Networks (SAND 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 330, pp. 10:1-10:20, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

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@InProceedings{clemente_et_al:LIPIcs.SAND.2025.10,
  author =	{Clemente, Stefano and Feletti, Caterina},
  title =	{{Fault Detection and Identification by Autonomous Mobile Robots}},
  booktitle =	{4th Symposium on Algorithmic Foundations of Dynamic Networks (SAND 2025)},
  pages =	{10:1--10:20},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-368-3},
  ISSN =	{1868-8969},
  year =	{2025},
  volume =	{330},
  editor =	{Meeks, Kitty and Scheideler, Christian},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.SAND.2025.10},
  URN =		{urn:nbn:de:0030-drops-230639},
  doi =		{10.4230/LIPIcs.SAND.2025.10},
  annote =	{Keywords: Autonomous mobile robots, Faulty robots, Look-Compute-Move, Fault detection, Fault identification, Round-robin}
}
Document
Brief Announcement
DOI: 10.4230/LIPIcs.DISC.2024.46
Brief Announcement: Optimal Uniform Circle Formation by Asynchronous Luminous Robots

Authors: Caterina Feletti, Debasish Pattanayak, and Gokarna Sharma

Published in: LIPIcs, Volume 319, 38th International Symposium on Distributed Computing (DISC 2024)

Abstract
We study the Uniform Circle Formation (UCF) problem for a swarm of n autonomous mobile robots operating in Look-Compute-Move (LCM) cycles on the Euclidean plane. We assume our robots are luminous, i.e. equipped with a persistent light that can assume a color chosen from a fixed palette, and opaque, i.e. not able to see beyond a collinear robot. Robots are said to collide if they share positions or their paths intersect within concurrent LCM cycles. To solve UCF, a swarm of n robots must autonomously arrange themselves so that each robot occupies a vertex of the same regular n-gon not fixed in advance. In terms of efficiency, the goal is to design an algorithm that optimizes (or provides a tradeoff between) two fundamental performance metrics: (i) the execution time and (ii) the size of the color palette. In this paper, we develop a deterministic algorithm solving UCF avoiding collisions in O(1)-time with O(1) colors under the asynchronous scheduler, which is asymptotically optimal with respect to both time and number of colors used, the first such result. Furthermore, the algorithm proposed here minimizes for the first time what we call the computational SEC, i.e. the smallest circular area where robots operate throughout the whole algorithm.
Cite as

Caterina Feletti, Debasish Pattanayak, and Gokarna Sharma. Brief Announcement: Optimal Uniform Circle Formation by Asynchronous Luminous Robots. In 38th International Symposium on Distributed Computing (DISC 2024). Leibniz International Proceedings in Informatics (LIPIcs), Volume 319, pp. 46:1-46:7, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2024)

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@InProceedings{feletti_et_al:LIPIcs.DISC.2024.46,
  author =	{Feletti, Caterina and Pattanayak, Debasish and Sharma, Gokarna},
  title =	{{Brief Announcement: Optimal Uniform Circle Formation by Asynchronous Luminous Robots}},
  booktitle =	{38th International Symposium on Distributed Computing (DISC 2024)},
  pages =	{46:1--46:7},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-352-2},
  ISSN =	{1868-8969},
  year =	{2024},
  volume =	{319},
  editor =	{Alistarh, Dan},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.DISC.2024.46},
  URN =		{urn:nbn:de:0030-drops-212748},
  doi =		{10.4230/LIPIcs.DISC.2024.46},
  annote =	{Keywords: Uniform Circle Formation, Robots with Lights, Autonomous Robots, Rank Encoding, Time and Color Complexities, Computational SEC}
}
Document
DOI: 10.4230/LIPIcs.SAND.2024.13
Computational Power of Opaque Robots

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

Published in: LIPIcs, Volume 292, 3rd Symposium on Algorithmic Foundations of Dynamic Networks (SAND 2024)

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.
Cite as

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)

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@InProceedings{feletti_et_al:LIPIcs.SAND.2024.13,
  author =	{Feletti, Caterina and Mambretti, Lucia and Mereghetti, Carlo and Palano, Beatrice},
  title =	{{Computational Power of Opaque Robots}},
  booktitle =	{3rd Symposium on Algorithmic Foundations of Dynamic Networks (SAND 2024)},
  pages =	{13:1--13:19},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-315-7},
  ISSN =	{1868-8969},
  year =	{2024},
  volume =	{292},
  editor =	{Casteigts, Arnaud and Kuhn, Fabian},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.SAND.2024.13},
  URN =		{urn:nbn:de:0030-drops-198913},
  doi =		{10.4230/LIPIcs.SAND.2024.13},
  annote =	{Keywords: Mobile robots, Look-Compute-Move, Computational complexity, Opaque robots, Distributed computing, Obstructed visibility, Collision intolerance}
}
Document
DOI: 10.4230/LIPIcs.OPODIS.2023.5
𝒪(log{n})-Time Uniform Circle Formation for Asynchronous Opaque Luminous Robots

Authors: Caterina Feletti, Carlo Mereghetti, and Beatrice Palano

Published in: LIPIcs, Volume 286, 27th International Conference on Principles of Distributed Systems (OPODIS 2023)

Abstract
We study the Uniform Circle Formation (UCF) problem for a distributed system of n robots which are required to displace on the vertices of a regular n-gon. We consider a well-studied model of autonomous, anonymous, mobile robots that act on the plane through Look-Compute-Move cycles. Moreover, robots are unaware of the cardinality of the system, they are punctiform, completely disoriented, opaque, and luminous. Collisions among robots are not tolerated. In the literature, the UCF problem has been solved for such a model by a deterministic algorithm in the asynchronous mode, using a constant amount of light colors and 𝒪(n) epochs in the worst case. In this paper, we provide an improved algorithm for solving the UCF problem for asynchronous robots, which uses 𝒪(log n) epochs still maintaining a constant amount of colors.
Cite as

Caterina Feletti, Carlo Mereghetti, and Beatrice Palano. 𝒪(log{n})-Time Uniform Circle Formation for Asynchronous Opaque Luminous Robots. In 27th International Conference on Principles of Distributed Systems (OPODIS 2023). Leibniz International Proceedings in Informatics (LIPIcs), Volume 286, pp. 5:1-5:21, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2024)

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@InProceedings{feletti_et_al:LIPIcs.OPODIS.2023.5,
  author =	{Feletti, Caterina and Mereghetti, Carlo and Palano, Beatrice},
  title =	{{𝒪(log\{n\})-Time Uniform Circle Formation for Asynchronous Opaque Luminous Robots}},
  booktitle =	{27th International Conference on Principles of Distributed Systems (OPODIS 2023)},
  pages =	{5:1--5:21},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-308-9},
  ISSN =	{1868-8969},
  year =	{2024},
  volume =	{286},
  editor =	{Bessani, Alysson and D\'{e}fago, Xavier and Nakamura, Junya and Wada, Koichi and Yamauchi, Yukiko},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.OPODIS.2023.5},
  URN =		{urn:nbn:de:0030-drops-194956},
  doi =		{10.4230/LIPIcs.OPODIS.2023.5},
  annote =	{Keywords: Autonomous mobile robots, Opaque robots, Luminous robots, Pattern formation}
}
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