Convergence properties of the gravitational algorithm in asynchronous robot systems

Reuven Cohen; David Peleg

doi:10.1137/S0097539704446475

Convergence properties of the gravitational algorithm in asynchronous robot systems

Reuven Cohen, David Peleg

Research output: Contribution to journal › Article › peer-review

58 Scopus citations

Abstract

This paper considers the convergence problem in autonomous mobile robot systems. A natural algorithm for the problem requires the robots to move towards their center of gravity. This paper proves the correctness of the gravitational algorithm in the fully asynchronous model. It also analyzes its convergence rate and establishes its convergence in the presence of crash faults.

Original language	English
Pages (from-to)	1516-1528
Number of pages	13
Journal	SIAM Journal on Computing
Volume	34
Issue number	6
DOIs	https://doi.org/10.1137/S0097539704446475
State	Published - 2005
Externally published	Yes

Keywords

Autonomous mobile robots
Convergence
Robot swarms

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Convergence properties of the gravitational algorithm in asynchronous robot systems

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Keywords

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