7 Search Results for "Yamauchi, Yukiko"

Document
DOI: 10.4230/LITES.8.2.2
Swarms of Mobile Robots: Towards Versatility with Safety

Authors: Pierre Courtieu, Lionel Rieg, Sébastien Tixeuil, and Xavier Urbain

Published in: LITES, Volume 8, Issue 2 (2022): Special Issue on Distributed Hybrid Systems. Leibniz Transactions on Embedded Systems, Volume 8, Issue 2

Abstract
We present Pactole, a formal framework to design and prove the correctness of protocols (or the impossibility of their existence) that target mobile robotic swarms. Unlike previous approaches, our methodology unifies in a single formalism the execution model, the problem specification, the protocol, and its proof of correctness. The Pactole framework makes use of the Coq proof assistant, and is specially targeted at protocol designers and problem specifiers, so that a common unambiguous language is used from the very early stages of protocol development. We stress the underlying framework design principles to enable high expressivity and modularity, and provide concrete examples about how the Pactole framework can be used to tackle actual problems, some previously addressed by the Distributed Computing community, but also new problems, while being certified correct.
Cite as

Pierre Courtieu, Lionel Rieg, Sébastien Tixeuil, and Xavier Urbain. Swarms of Mobile Robots: Towards Versatility with Safety. In LITES, Volume 8, Issue 2 (2022): Special Issue on Distributed Hybrid Systems. Leibniz Transactions on Embedded Systems, Volume 8, Issue 2, pp. 02:1-02:36, Schloss Dagstuhl - Leibniz-Zentrum für Informatik (2022)

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@Article{courtieu_et_al:LITES.8.2.2,
  author =	{Courtieu, Pierre and Rieg, Lionel and Tixeuil, S\'{e}bastien and Urbain, Xavier},
  title =	{{Swarms of Mobile Robots: Towards Versatility with Safety}},
  booktitle =	{LITES, Volume 8, Issue 2 (2022): Special Issue on Distributed Hybrid Systems},
  pages =	{02:1--02:36},
  journal =	{Leibniz Transactions on Embedded Systems},
  ISSN =	{2199-2002},
  year =	{2022},
  volume =	{8},
  number =	{2},
  editor =	{Courtieu, Pierre and Rieg, Lionel and Tixeuil, S\'{e}bastien and Urbain, Xavier},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LITES.8.2.2},
  doi =		{10.4230/LITES.8.2.2},
  annote =	{Keywords: distributed algorithm, mobile autonomous robots, formal proof}
}
Document
DOI: 10.4230/LIPIcs.SAND.2022.20
Search by a Metamorphic Robotic System in a Finite 3D Cubic Grid

Authors: Ryonosuke Yamada and Yukiko Yamauchi

Published in: LIPIcs, Volume 221, 1st Symposium on Algorithmic Foundations of Dynamic Networks (SAND 2022)

Abstract
We consider search in a finite 3D cubic grid by a metamorphic robotic system (MRS), that consists of anonymous modules. A module can perform a sliding and rotation while the whole modules keep connectivity. As the number of modules increases, the variety of actions that the MRS can perform increases. The search problem requires the MRS to find a target in a given finite field. Doi et al. (SSS 2018) demonstrate a necessary and sufficient number of modules for search in a finite 2D square grid. We consider search in a finite 3D cubic grid and investigate the effect of common knowledge. We consider three different settings. First, we show that three modules are necessary and sufficient when all modules are equipped with a common compass, i.e., they agree on the direction and orientation of the x, y, and z axes. Second, we show that four modules are necessary and sufficient when all modules agree on the direction and orientation of the vertical axis. Finally, we show that five modules are necessary and sufficient when all modules are not equipped with a common compass. Our results show that the shapes of the MRS in the 3D cubic grid have richer structure than those in the 2D square grid.
Cite as

Ryonosuke Yamada and Yukiko Yamauchi. Search by a Metamorphic Robotic System in a Finite 3D Cubic Grid. In 1st Symposium on Algorithmic Foundations of Dynamic Networks (SAND 2022). Leibniz International Proceedings in Informatics (LIPIcs), Volume 221, pp. 20:1-20:16, Schloss Dagstuhl - Leibniz-Zentrum für Informatik (2022)

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@InProceedings{yamada_et_al:LIPIcs.SAND.2022.20,
  author =	{Yamada, Ryonosuke and Yamauchi, Yukiko},
  title =	{{Search by a Metamorphic Robotic System in a Finite 3D Cubic Grid}},
  booktitle =	{1st Symposium on Algorithmic Foundations of Dynamic Networks (SAND 2022)},
  pages =	{20:1--20:16},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-224-2},
  ISSN =	{1868-8969},
  year =	{2022},
  volume =	{221},
  editor =	{Aspnes, James and Michail, Othon},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.SAND.2022.20},
  URN =		{urn:nbn:de:0030-drops-159626},
  doi =		{10.4230/LIPIcs.SAND.2022.20},
  annote =	{Keywords: Distributed system, metamorphic robotic system, search, and 3D cubic grid}
}
Document
DOI: 10.4230/LIPIcs.DISC.2020.12
Gathering on a Circle with Limited Visibility by Anonymous Oblivious Robots

Authors: Giuseppe A. Di Luna, Ryuhei Uehara, Giovanni Viglietta, and Yukiko Yamauchi

Published in: LIPIcs, Volume 179, 34th International Symposium on Distributed Computing (DISC 2020)

Abstract
A swarm of anonymous oblivious mobile robots, operating in deterministic Look-Compute-Move cycles, is confined within a circular track. All robots agree on the clockwise direction (chirality), they are activated by an adversarial semi-synchronous scheduler (SSYNCH), and an active robot always reaches the destination point it computes (rigidity). Robots have limited visibility: each robot can see only the points on the circle that have an angular distance strictly smaller than a constant ϑ from the robot’s current location, where 0 < ϑ ≤ π (angles are expressed in radians). We study the Gathering problem for such a swarm of robots: that is, all robots are initially in distinct locations on the circle, and their task is to reach the same point on the circle in a finite number of turns, regardless of the way they are activated by the scheduler. Note that, due to the anonymity of the robots, this task is impossible if the initial configuration is rotationally symmetric; hence, we have to make the assumption that the initial configuration be rotationally asymmetric. We prove that, if ϑ = π (i.e., each robot can see the entire circle except its antipodal point), there is a distributed algorithm that solves the Gathering problem for swarms of any size. By contrast, we also prove that, if ϑ ≤ π/2, no distributed algorithm solves the Gathering problem, regardless of the size of the swarm, even under the assumption that the initial configuration is rotationally asymmetric and the visibility graph of the robots is connected. The latter impossibility result relies on a probabilistic technique based on random perturbations, which is novel in the context of anonymous mobile robots. Such a technique is of independent interest, and immediately applies to other Pattern-Formation problems.
Cite as

Giuseppe A. 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 2020). Leibniz International Proceedings in Informatics (LIPIcs), Volume 179, pp. 12:1-12:17, Schloss Dagstuhl - Leibniz-Zentrum für Informatik (2020)

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@InProceedings{diluna_et_al:LIPIcs.DISC.2020.12,
  author =	{Di Luna, Giuseppe A. and Uehara, Ryuhei and Viglietta, Giovanni and Yamauchi, Yukiko},
  title =	{{Gathering on a Circle with Limited Visibility by Anonymous Oblivious Robots}},
  booktitle =	{34th International Symposium on Distributed Computing (DISC 2020)},
  pages =	{12:1--12:17},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-168-9},
  ISSN =	{1868-8969},
  year =	{2020},
  volume =	{179},
  editor =	{Attiya, Hagit},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.DISC.2020.12},
  URN =		{urn:nbn:de:0030-drops-130907},
  doi =		{10.4230/LIPIcs.DISC.2020.12},
  annote =	{Keywords: Mobile robots, Gathering, limited visibility, circle}
}
Document
DOI: 10.4230/LIPIcs.IPEC.2019.13
Parameterized Algorithms for Maximum Cut with Connectivity Constraints

Authors: Hiroshi Eto, Tesshu Hanaka, Yasuaki Kobayashi, and Yusuke Kobayashi

Published in: LIPIcs, Volume 148, 14th International Symposium on Parameterized and Exact Computation (IPEC 2019)

Abstract
We study two variants of Maximum Cut, which we call Connected Maximum Cut and Maximum Minimal Cut, in this paper. In these problems, given an unweighted graph, the goal is to compute a maximum cut satisfying some connectivity requirements. Both problems are known to be NP-complete even on planar graphs whereas Maximum Cut on planar graphs is solvable in polynomial time. We first show that these problems are NP-complete even on planar bipartite graphs and split graphs. Then we give parameterized algorithms using graph parameters such as clique-width, tree-width, and twin-cover number. Finally, we obtain FPT algorithms with respect to the solution size.
Cite as

Hiroshi Eto, Tesshu Hanaka, Yasuaki Kobayashi, and Yusuke Kobayashi. Parameterized Algorithms for Maximum Cut with Connectivity Constraints. In 14th International Symposium on Parameterized and Exact Computation (IPEC 2019). Leibniz International Proceedings in Informatics (LIPIcs), Volume 148, pp. 13:1-13:15, Schloss Dagstuhl - Leibniz-Zentrum für Informatik (2019)

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@InProceedings{eto_et_al:LIPIcs.IPEC.2019.13,
  author =	{Eto, Hiroshi and Hanaka, Tesshu and Kobayashi, Yasuaki and Kobayashi, Yusuke},
  title =	{{Parameterized Algorithms for Maximum Cut with Connectivity Constraints}},
  booktitle =	{14th International Symposium on Parameterized and Exact Computation (IPEC 2019)},
  pages =	{13:1--13:15},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-129-0},
  ISSN =	{1868-8969},
  year =	{2019},
  volume =	{148},
  editor =	{Jansen, Bart M. P. and Telle, Jan Arne},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.IPEC.2019.13},
  URN =		{urn:nbn:de:0030-drops-114747},
  doi =		{10.4230/LIPIcs.IPEC.2019.13},
  annote =	{Keywords: Maximum cut, Parameterized algorithm, NP-hardness, Graph parameter}
}
Document
DOI: 10.4230/LIPIcs.OPODIS.2017.13
Plane Formation by Synchronous Mobile Robots without Chirality

Authors: Yusaku Tomita, Yukiko Yamauchi, Shuji Kijima, and Masafumi Yamashita

Published in: LIPIcs, Volume 95, 21st International Conference on Principles of Distributed Systems (OPODIS 2017)

Abstract
We consider a distributed system consisting of autonomous mobile computing entities called robots moving in the three-dimensional space (3D-space). The robots are anonymous, oblivious, fully-synchronous and have neither any access to the global coordinate system nor any explicit communication medium. Each robot cooperates with other robots by observing the positions of other robots in its local coordinate system. One of the most fundamental agreement problems in 3D-space is the plane formation problem that requires the robots to land on a common plane, that is not predefined. This problem is not always solvable because of the impossibility of symmetry breaking. While existing results assume that the robots agree on the handedness of their local coordinate systems, we remove the assumption and consider the robots without chirality. The robots without chirality can never break the symmetry consisting of rotation symmetry and reflection symmetry. Such symmetry in 3D-space is fully described by 17 symmetry types each of which forms a group. We extend the notion of symmetricity [Suzuki and Yamashita, SIAM J. Compt. 1999] [Yamauchi et al., PODC 2016] to cover these 17 symmetry groups. Then we give a characterization of initial configurations from which the fully-synchronous robots without chirality can form a plane in terms of symmetricity.
Cite as

Yusaku Tomita, Yukiko Yamauchi, Shuji Kijima, and Masafumi Yamashita. Plane Formation by Synchronous Mobile Robots without Chirality. In 21st International Conference on Principles of Distributed Systems (OPODIS 2017). Leibniz International Proceedings in Informatics (LIPIcs), Volume 95, pp. 13:1-13:17, Schloss Dagstuhl - Leibniz-Zentrum für Informatik (2018)

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@InProceedings{tomita_et_al:LIPIcs.OPODIS.2017.13,
  author =	{Tomita, Yusaku and Yamauchi, Yukiko and Kijima, Shuji and Yamashita, Masafumi},
  title =	{{Plane Formation by Synchronous Mobile Robots without Chirality}},
  booktitle =	{21st International Conference on Principles of Distributed Systems (OPODIS 2017)},
  pages =	{13:1--13:17},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-061-3},
  ISSN =	{1868-8969},
  year =	{2018},
  volume =	{95},
  editor =	{Aspnes, James and Bessani, Alysson and Felber, Pascal and Leit\~{a}o, Jo\~{a}o},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.OPODIS.2017.13},
  URN =		{urn:nbn:de:0030-drops-86337},
  doi =		{10.4230/LIPIcs.OPODIS.2017.13},
  annote =	{Keywords: Autonomous mobile robots, plane formation problem, symmetry breaking, group theory}
}
Document
DOI: 10.4230/LIPIcs.OPODIS.2017.31
Shape Formation by Programmable Particles

Authors: Giuseppe A. Di Luna, Paola Flocchini, Nicola Santoro, Giovanni Viglietta, and Yukiko Yamauchi

Published in: LIPIcs, Volume 95, 21st International Conference on Principles of Distributed Systems (OPODIS 2017)

Abstract
Shape formation (or pattern formation) is a basic distributed problem for systems of compu- tational mobile entities. Intensively studied for systems of autonomous mobile robots, it has recently been investigated in the realm of programmable matter, where entities are assumed to be small and with severely limited capabilities. Namely, it has been studied in the geometric Amoebot model, where the anonymous entities, called particles, operate on a hexagonal tessella- tion of the plane and have limited computational power (they have constant memory), strictly local interaction and communication capabilities (only with particles in neighboring nodes of the grid), and limited motorial capabilities (from a grid node to an empty neighboring node); their activation is controlled by an adversarial scheduler. Recent investigations have shown how, start- ing from a well-structured configuration in which the particles form a (not necessarily complete) triangle, the particles can form a large class of shapes. This result has been established under several assumptions: agreement on the clockwise direction (i.e., chirality), a sequential activation schedule, and randomization (i.e., particles can flip coins to elect a leader). In this paper we provide a characterization of which shapes can be formed deterministically starting from any simply connected initial configuration of n particles. The characterization is constructive: we provide a universal shape formation algorithm that, for each feasible pair of shapes (S_0,S_F), allows the particles to form the final shape SF (given in input) starting from the initial shape S_0, unknown to the particles. The final configuration will be an appropriate scaled-up copy of S_F depending on n. If randomization is allowed, then any input shape can be formed from any initial (simply connected) shape by our algorithm, provided that there are enough particles. Our algorithm works without chirality, proving that chirality is computationally irrelevant for shape formation. Furthermore, it works under a strong adversarial scheduler, not necessarily sequential. We also consider the complexity of shape formation both in terms of the number of rounds and the total number of moves performed by the particles executing a universal shape formation algorithm. We prove that our solution has a complexity of O(n^2) rounds and moves: this number of moves is also asymptotically worst-case optimal.
Cite as

Giuseppe A. Di Luna, Paola Flocchini, Nicola Santoro, Giovanni Viglietta, and Yukiko Yamauchi. Shape Formation by Programmable Particles. In 21st International Conference on Principles of Distributed Systems (OPODIS 2017). Leibniz International Proceedings in Informatics (LIPIcs), Volume 95, pp. 31:1-31:16, Schloss Dagstuhl - Leibniz-Zentrum für Informatik (2018)

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@InProceedings{diluna_et_al:LIPIcs.OPODIS.2017.31,
  author =	{Di Luna, Giuseppe A. and Flocchini, Paola and Santoro, Nicola and Viglietta, Giovanni and Yamauchi, Yukiko},
  title =	{{Shape Formation by Programmable Particles}},
  booktitle =	{21st International Conference on Principles of Distributed Systems (OPODIS 2017)},
  pages =	{31:1--31:16},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-061-3},
  ISSN =	{1868-8969},
  year =	{2018},
  volume =	{95},
  editor =	{Aspnes, James and Bessani, Alysson and Felber, Pascal and Leit\~{a}o, Jo\~{a}o},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.OPODIS.2017.31},
  URN =		{urn:nbn:de:0030-drops-86370},
  doi =		{10.4230/LIPIcs.OPODIS.2017.31},
  annote =	{Keywords: Shape formation, pattern formation, programmable matter, Amoebots, leader election, distributed algorithms}
}
Document
Brief Announcement
DOI: 10.4230/LIPIcs.DISC.2017.48
Brief Announcement: Shape Formation by Programmable Particles

Authors: Giuseppe A. Di Luna, Paola Flocchini, Nicola Santoro, Giovanni Viglietta, and Yukiko Yamauchi

Published in: LIPIcs, Volume 91, 31st International Symposium on Distributed Computing (DISC 2017)

Abstract
Shape formation is a basic distributed problem for systems of computational mobile entities. Intensively studied for systems of autonomous mobile robots, it has recently been investigated in the realm of programmable matter. Namely, it has been studied in the geometric Amoebot model, where the anonymous entities, called particles, operate on a hexagonal tessellation of the plane, have constant memory, can only communicate with neighboring particles, and can only move from a grid node to an empty neighboring node; their activation is controlled by an adversarial scheduler. Recent investigations have shown how, starting from a well-structured configuration in which the particles form a (not necessarily complete) triangle, the particles can form a large class of shapes. This result has been established under several assumptions: agreement on the clockwise direction (i.e., chirality), a sequential activation schedule, and randomization. In this paper we provide a characterization of which shapes can be formed deterministically starting from any simply connected initial configuration of n particles. As a byproduct, if randomization is allowed, then any input shape can be formed from any initial (simply connected) shape by our algorithm, provided that n is large enough. Our algorithm works without chirality, proving that chirality is computationally irrelevant for shape formation. Furthermore, it works under a strong adversarial scheduler, not necessarily sequential. We also consider the complexity of shape formation both in terms of the number of rounds and the total number of moves performed by the particles executing a universal shape formation algorithm. We prove that our solution has a complexity of O(n^2) rounds and moves: this number of moves is also asymptotically optimal.
Cite as

Giuseppe A. Di Luna, Paola Flocchini, Nicola Santoro, Giovanni Viglietta, and Yukiko Yamauchi. Brief Announcement: Shape Formation by Programmable Particles. In 31st International Symposium on Distributed Computing (DISC 2017). Leibniz International Proceedings in Informatics (LIPIcs), Volume 91, pp. 48:1-48:3, Schloss Dagstuhl - Leibniz-Zentrum für Informatik (2017)

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@InProceedings{diluna_et_al:LIPIcs.DISC.2017.48,
  author =	{Di Luna, Giuseppe A. and Flocchini, Paola and Santoro, Nicola and Viglietta, Giovanni and Yamauchi, Yukiko},
  title =	{{Brief Announcement: Shape Formation by Programmable Particles}},
  booktitle =	{31st International Symposium on Distributed Computing (DISC 2017)},
  pages =	{48:1--48:3},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-053-8},
  ISSN =	{1868-8969},
  year =	{2017},
  volume =	{91},
  editor =	{Richa, Andr\'{e}a},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.DISC.2017.48},
  URN =		{urn:nbn:de:0030-drops-80019},
  doi =		{10.4230/LIPIcs.DISC.2017.48},
  annote =	{Keywords: Shape formation, pattern formation, programmable matter, Amoebots, leader election, distributed algorithms, self-assembly}
}
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