Local spreading algorithms for autonomous robot systems

Reuven Cohen, David Peleg

Research output: Contribution to journalArticlepeer-review

75 Scopus citations


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 languageEnglish
Pages (from-to)71-82
Number of pages12
JournalTheoretical Computer Science
Issue number1-2
StatePublished - 3 Jun 2008

Bibliographical note

Funding Information:
ISupported in part by a grant from the Israel Science Foundation. ∗Corresponding author. E-mail addresses: cohenr@shoshi.ph.biu.ac.il (R. Cohen), david.peleg@weizmann.ac.il (D. Peleg).


  • Mobile autonomous robots
  • Robot swarms
  • Spreading


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