Gathering Multiple Robotic Agents with Crude Distance Sensing Capabilities

  • Noam Gordon
  • Yotam Elor
  • Alfred M. Bruckstein
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5217)


In this follow-up to an ANTS 2004 paper we continue to investigate the problem of gathering a swarm of multiple robotic agents on the plane using very limited local sensing capabilities. In our previous work, we assumed that the agents cannot measure their distance to neighboring agents at all. In this paper, we consider a crude range-limited sensing capability that can only tell if neighboring agents are either near or far. We introduce two new variants of our previously proposed algorithm that utilize this capability. We prove the correctness of our algorithms, and show that the newly added capability can improve the performance of the algorithm significantly.


Mobile Robot Visibility Graph Autonomous Mobile Robot Swarm Robotic Slave Robot 
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 2008

Authors and Affiliations

  • Noam Gordon
    • 1
  • Yotam Elor
    • 1
  • Alfred M. Bruckstein
    • 1
  1. 1.Center for Intelligent SystemsCS Department Technion — Israel Institute of TechnologyHaifaIsrael

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