Distributed algorithms for partitioning a swarm of autonomous mobile robots

Asaf Efrima; David Peleg

doi:10.1007/978-3-540-72951-8_15

Distributed algorithms for partitioning a swarm of autonomous mobile robots

Asaf Efrima, David Peleg

Weizmann Institute of Science

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

10 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 language	English
Title of host publication	Structural Information and Communication Complexity - 14th International Colloquium, SIROCCO 2007, Proceedings
Publisher	Springer Verlag
Pages	180-194
Number of pages	15
ISBN (Print)	9783540729181
DOIs	https://doi.org/10.1007/978-3-540-72951-8_15
State	Published - 2007
Externally published	Yes
Event	14th International Colloquium on Structural Information and Communication Complexity, SIROCCO 2007 - Castiglioncello, Italy Duration: 5 Jun 2007 → 8 Jun 2007

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	4474 LNCS
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	14th International Colloquium on Structural Information and Communication Complexity, SIROCCO 2007
Country/Territory	Italy
City	Castiglioncello
Period	5/06/07 → 8/06/07

Bibliographical note

Funding Information:
Corresponding author. E-mail address: [email protected] (D. Peleg). 1 Supported in part by a grant from the Israel Science Foundation.

Funding

Corresponding author. E-mail address: [email protected] (D. Peleg). 1 Supported in part by a grant from the Israel Science Foundation.

Funders	Funder number
Israel Science Foundation

Access to Document

10.1007/978-3-540-72951-8_15

Cite this

Efrima, A., & Peleg, D. (2007). Distributed algorithms for partitioning a swarm of autonomous mobile robots. In Structural Information and Communication Complexity - 14th International Colloquium, SIROCCO 2007, Proceedings (pp. 180-194). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4474 LNCS). Springer Verlag. https://doi.org/10.1007/978-3-540-72951-8_15

Efrima, Asaf ; Peleg, David. / Distributed algorithms for partitioning a swarm of autonomous mobile robots. Structural Information and Communication Complexity - 14th International Colloquium, SIROCCO 2007, Proceedings. Springer Verlag, 2007. pp. 180-194 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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Efrima, A & Peleg, D 2007, Distributed algorithms for partitioning a swarm of autonomous mobile robots. in Structural Information and Communication Complexity - 14th International Colloquium, SIROCCO 2007, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 4474 LNCS, Springer Verlag, pp. 180-194, 14th International Colloquium on Structural Information and Communication Complexity, SIROCCO 2007, Castiglioncello, Italy, 5/06/07. https://doi.org/10.1007/978-3-540-72951-8_15

Distributed algorithms for partitioning a swarm of autonomous mobile robots. / Efrima, Asaf; Peleg, David.
Structural Information and Communication Complexity - 14th International Colloquium, SIROCCO 2007, Proceedings. Springer Verlag, 2007. p. 180-194 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4474 LNCS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Efrima A, Peleg D. Distributed algorithms for partitioning a swarm of autonomous mobile robots. In Structural Information and Communication Complexity - 14th International Colloquium, SIROCCO 2007, Proceedings. Springer Verlag. 2007. p. 180-194. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-540-72951-8_15

Distributed algorithms for partitioning a swarm of autonomous mobile robots

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