Distributed algorithms for partitioning a swarm of autonomous mobile robots

Asaf Efrima, David Peleg

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

8 Scopus citations

Abstract

A number of recent studies address systems of mobile autonomous robots from a distributed computing point of view. Although such systems employ robots that are relatively weak and simple (i.e., dimensionless, oblivious and anonymous), they are nevertheless expected to have strong fault tolerance capabilities as a group. This paper studies the partitioning problem, where n robots must divide themselves into k size-balanced groups, and examines the impact of common orientation on the solvability of this problem. First, deterministic crash-fault tolerant algorithms are given for the problem in the asynchronous fullcompass and semi-synchronous half-compass models, and a randomized algorithm is given for the semi-synchronous no-compass model. Next, the role of common orientation shared by the robots is examined. Necessary and sufficient conditions for the partitioning problem to be solvable are given in the different timing models. Finally, the problem is proved to be unsolvable in the no-compass asynchronous model.

Original languageEnglish
Title of host publicationStructural Information and Communication Complexity - 14th International Colloquium, SIROCCO 2007, Proceedings
PublisherSpringer Verlag
Pages180-194
Number of pages15
ISBN (Print)9783540729181
DOIs
StatePublished - 2007
Externally publishedYes
Event14th International Colloquium on Structural Information and Communication Complexity, SIROCCO 2007 - Castiglioncello, Italy
Duration: 5 Jun 20078 Jun 2007

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume4474 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference14th International Colloquium on Structural Information and Communication Complexity, SIROCCO 2007
Country/TerritoryItaly
CityCastiglioncello
Period5/06/078/06/07

Bibliographical note

Funding Information:
Corresponding author. E-mail address: david.peleg@weizmann.ac.il (D. Peleg). 1 Supported in part by a grant from the Israel Science Foundation.

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