Abstract
We consider online and offline problems related to exploring and surveying a region by a swarm of robots with limited communication range. The minimum relay triangulation problem (MRTP) asks for placing a minimum number of robots, such that their communication graph is a triangulated cover of the region. The maximum area triangulation problem (MATP) aims at finding a placement of n robots such that their communication graph contains a root and forms a triangulated cover of a maximum possible amount of area. Both problems are geometric versions of natural graph optimization problems.
The offline version of both problems share a decision problem, which we prove to be NP-hard. For the online version of the MRTP, we give a lower bound of 6/5 for the competitive ratio, and a strategy that achieves a ratio of 3; for different offline versions, we describe polynomial-time approximation schemes. For the MATP we show that no competitive ratio exists for the online problem, and give polynomial-time approximation schemes for offline versions.
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Fekete, S.P., Kamphans, T., Kröller, A., Mitchell, J.S.B., Schmidt, C. (2011). Exploring and Triangulating a Region by a Swarm of Robots. In: Goldberg, L.A., Jansen, K., Ravi, R., Rolim, J.D.P. (eds) Approximation, Randomization, and Combinatorial Optimization. Algorithms and Techniques. APPROX RANDOM 2011 2011. Lecture Notes in Computer Science, vol 6845. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-22935-0_18
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DOI: https://doi.org/10.1007/978-3-642-22935-0_18
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