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Chase Your Farthest Neighbour

A Simple Gathering Algorithm for Anonymous, Oblivious and Non-communicating Agents
  • Rotem Manor
  • Alfred M. Bruckstein
Chapter
Part of the Springer Proceedings in Advanced Robotics book series (SPAR, volume 6)

Abstract

We consider a group of mobile robotic agents, identical and indistinguishable, having no memory (oblivious) and no common frame of reference (neither absolute location nor a common orientation). Furthermore, these agents are assumed to posses only rudimentary sensing and computational capabilities (limited visibility and basic geometric sorting). We prove that, such robots, implementing a “Chase the farthest neighbour” policy, preform the task of gathering to a point within a finite time or a finite expected number of time steps. In continuous time, preforming such a gathering task is rather straightforward, while in the discrete time, we prove that a randomized semi-synchronised timing model leads to gathering within a finite expected number of time-steps.

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Copyright information

© Springer International Publishing AG 2018

Authors and Affiliations

  1. 1.TechnionHaifaIsrael

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