Abstract
This paper studies local algorithms for autonomous robot systems, namely, algorithms that use only information of the positions of a bounded number of their nearest neighbors. The paper focuses on the spreading problem. It defines measures for the quality of spreading, presents a local algorithm for the one-dimensional spreading problem, proves its convergence to the equally spaced configuration and discusses its convergence rate in the synchronous and semi-synchronous settings. It then presents a local algorithm achieving the exact equally spaced configuration in finite time in the synchronous setting, and proves it is time optimal for local algorithms. Finally, the paper also proposes a possible algorithm for the two-dimensional case and presents partial simulation results of its effectiveness.
Original language | English |
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Pages (from-to) | 71-82 |
Number of pages | 12 |
Journal | Theoretical Computer Science |
Volume | 399 |
Issue number | 1-2 |
DOIs | |
State | Published - 3 Jun 2008 |
Bibliographical note
Funding Information:ISupported in part by a grant from the Israel Science Foundation. ∗Corresponding author. E-mail addresses: [email protected] (R. Cohen), [email protected] (D. Peleg).
Funding
ISupported in part by a grant from the Israel Science Foundation. ∗Corresponding author. E-mail addresses: [email protected] (R. Cohen), [email protected] (D. Peleg).
Funders | Funder number |
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Israel Science Foundation |
Keywords
- Mobile autonomous robots
- Robot swarms
- Spreading