Gathering of asynchronous robots with limited visibility
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TLDR
This paper presents a protocol that allows anonymous oblivious robots with limited visibility to gather in the same location in finite time, provided they have orientation (i.e., agreement on a coordinate system), indicating that, with respect to gathering, orientation is at least as powerful as instantaneous movements.About:
This article is published in Theoretical Computer Science.The article was published on 2005-06-09 and is currently open access. It has received 423 citations till now. The article focuses on the topics: Visibility (geometry) & Mobile robot.read more
Citations
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Graph-Theoretic Connectivity Control of Mobile Robot Networks This paper develops an analysis for groups of vehicles connected by a communication network; control laws are formulated to accomplish tasks requiring rendezvous, and swarm in group formations.
TL;DR: A graph-theoretic definition of connectivity is provided, as well as an equivalent definition based on algebraic graph theory, which employs the adjacency and Laplacian matrices of the graph and their spectral properties.
Journal ArticleDOI
Graph-theoretic connectivity control of mobile robot networks
TL;DR: In this paper, a graph-theoretic definition of connectivity is provided, as well as an equivalent definition based on algebraic graph theory, which employs the adjacency and Laplacian matrices of the graph and their spectral properties.
Book
Distributed Computing by Oblivious Mobile Robots
TL;DR: This book focuses on the recent algorithmic results in the field of distributed computing by oblivious mobile robots (unable to remember the past), and introduces the computational model with its nuances, focusing on basic coordination problems: pattern formation, gathering, scattering, leader election, as well as on dynamic tasks such as flocking.
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Distributed Computing by Mobile Robots: Gathering
TL;DR: This paper considers the setting without assumptions, that is, when the entities are oblivious, disoriented, and fully asynchronous, which means no assumptions exist on timing of cycles and activities within a cycle.
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Arbitrary pattern formation by asynchronous, anonymous, oblivious robots
TL;DR: This paper studies a hard task for a set of weak robots and shows that the tasks that such a system of robots can perform depend strongly on their common agreement about their environment, i.e. the readings of their environment sensors.
References
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Journal ArticleDOI
Behavior-based formation control for multirobot teams
Tucker Balch,Ronald C. Arkin +1 more
TL;DR: New reactive behaviors that implement formations in multirobot teams are presented and evaluated and demonstrate the value of various types of formations in autonomous, human-led and communications-restricted applications, and their appropriateness in different types of task environments.
Journal ArticleDOI
Cooperative mobile robotics: antecedents and directions
TL;DR: A critical survey of existing works in cooperative robotics is given and open problems in this field are discussed, emphasizing the various theoretical issues that arise in the study of cooperative robotics.
Proceedings ArticleDOI
Controlling formations of multiple mobile robots
TL;DR: Methods of feedback linearization are used to exponentially stabilize the relative distance and orientation of the follower, and it is shown that the zero dynamics of the system are also (asymptotically) stable.
Journal ArticleDOI
Distributed Anonymous Mobile Robots: Formation of Geometric Patterns
Ichiro Suzuki,Masafumi Yamashita +1 more
Abstract: In this note we make a minor correction to a scheme for robots to broadcast their private information. All major results of the paper [I. Suzuki and M. Yamashita, SIAM J. Comput., 28 (1999), pp. 1347-1363] hold with this correction.
Journal ArticleDOI
Distributed memoryless point convergence algorithm for mobile robots with limited visibility
TL;DR: The results of computer simulation under a more realistic model give convincing indication that the algorithm, if implemented on physical robots, will be robust against sensor and control error.
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Distributed Anonymous Mobile Robots: Formation of Geometric Patterns
Ichiro Suzuki,Masafumi Yamashita +1 more