Gathering Multiple Robotic A(ge)nts with Limited Sensing Capabilities

  • Noam Gordon
  • Israel A. Wagner
  • Alfred M. Bruckstein
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3172)


We consider a swarm of simple ant-robots (or a(ge)nts) on the plane, which are anonymous, homogeneous, memoryless and lack communication capabilities. Their sensors are range-limited and they are unable to measure distances. Rather, they can only acquire the directions to their neighbors. We propose a simple algorithm, which makes them gather in a small region or a point. We discuss three variants of the problem: A continuous-space discrete-time problem, a continuous-time limit of that problem, and a discrete-space discrete-time analog. Using both analysis and simulations, we show that, interestingly, the system’s global behavior in the continuous-time limit is fundamentally different from that of the discrete-time case, due to hidden “Zenoness” in it.


Mobile Robot Visibility Graph Hybrid Automaton Allowable Region Movement Rule 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2004

Authors and Affiliations

  • Noam Gordon
    • 1
  • Israel A. Wagner
    • 1
  • Alfred M. Bruckstein
    • 1
  1. 1.Center for Intelligent Systems, CS DepartmentTechnion Israel Institute of TechnologyHaifaIsrael

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