Brief Announcement: Self-stabilizing LCM Schedulers for Autonomous Mobile Robots Using Neighborhood Mutual Remainder

Abstract

A vast number of algorithms for robots assume a given schedule that ensures the simultaneous LOOK (observing the location of all other non-moving robots), only then simultaneous COMPUTE (computing the target for moving) and only then simultaneous MOVE (LCM). The assumption on the existence of synchronization signal for movements, when other robots do not LOOK is questionable. We present several self-stabilizing techniques to implement such a scheduler using global/local clock pulses and thus converting the vast numbers of robot algorithms that assume the LCM schedule, to eliminate this assumption at once. Namely, we present implementation of a move-atomic property scheduler, where robots possess an independent clock that is advanced at the same speed.We realize it by applying the neighborhood mutual remainder. This research presents the first self-stabilizing implementations of the LCM synchronization.

This work was supported in part by JSPS KAKENHI No. 17K00019, 18K11167, 19K11823 and 19K11828, Rita Altura Trust Chair in Computer Science, the Ministry of Science and Technology, Israel&Japan Science and Technology Agency (JST) SICORP (Grant#JPMJSC1806) and the German Research Funding Organization (DFG, Grant#8767581199).