Abstract
In the present paper, we introduce two different algorithms for the two dimensional gathering problem for synchronous, fat (disk-like) robots with no global navigation or communication, and with limited visibility. One of the algorithms is a slightly modified version of the local smallest enclosing circle (local SEC) algorithm. The other algorithm uses a new method of the gathering: the robots moves towards the furthest visible robot, and the robots on the perimeter of the visibility graph applies a bigger extent of move than the others. With the help of computer simulations, the two proposed algorithms are shown to be applicable for the gathering problem above and they perform better than the earlier simple SEC algorithm developed for point like robots.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Prencipe, G.: Impossibility of gathering by a set of autonomous mobile robots. Theoretical Computer Science 384, 222–231 (2007)
Cohen, R., Peleg, D.: Robot Convergence via Center-of-Gravity Algorithms. In: Kralovic, R., Sýkora, O. (eds.) SIROCCO 2004. LNCS, vol. 3104, pp. 79–88. Springer, Heidelberg (2004)
Cieliebak, M., Flocchini, P., Prencipe, G., Santoro, N.: Solving the Robots Gathering Problem. In: Baeten, J.C.M., Lenstra, J.K., Parrow, J., Woeginger, G.J. (eds.) ICALP 2003. LNCS, vol. 2719, pp. 1181–1196. Springer, Heidelberg (2003)
Ando, H., Suzuki, I., Yamashita, M.: Formation and agreement problems for synchronous mobile robots with limited visibility. In: 1995 IEEE International Symposium on Intelligent Control, pp. 453–460. IEEE Press, New York (1995)
Flocchini, P., Prencipe, G., Santoro, N., Widmayer, P.: Gathering of asynchronous robots with limited visibility. Theoretical Computer Science 337, 147–168 (2005)
Souissi, S., Défago, X., Yamashita, M.: Using Eventually Consistent Compasses to Gather Oblivious Mobile Robots with Limited Visibility. In: Datta, A.K., Gradinariu, M. (eds.) SSS 2006. LNCS, vol. 4280, pp. 484–500. Springer, Heidelberg (2006)
Degener, B., Kempkes, B., auf der Heide, F.M.: A local O(n 2) gathering algorithm. In: SPAA 2010: Proceedings of the 22nd ACM Symposium on Parallelism in Algorithms and Architectures, pp. 224–232. ACM, New York (2010)
Czyzowicz, G.J., Gasieniec, L., Pelc, A.: I Gathering few fat mobile robots in the plane. Theoretical Computer Science 410, 481–499 (2009)
Cord-Landwehr, A., Degener, B., Fischer, M., Hüllmann, M., Kempkes, B., Klaas, A., Kling, P., Kurras, S., Märtens, M., auf der Heide, F.M., Raupach, C., Swierkot, K., Warner, D., Weddemann, C., Wonisch, D.: Collisionless Gathering of Robots with an Extent. In: Černá, I., Gyimóthy, T., Hromkovič, J., Jefferey, K., Králović, R., Vukolić, M., Wolf, S. (eds.) SOFSEM 2011. LNCS, vol. 6543, pp. 178–189. Springer, Heidelberg (2011)
Gan Chaudhuri, S., Mukhopadhyaya, K.: Gathering Asynchronous Transparent Fat Robots. In: Janowski, T., Mohanty, H. (eds.) ICDCIT 2010. LNCS, vol. 5966, pp. 170–175. Springer, Heidelberg (2010)
Cohen, R., Peleg, D.: Local Spread Algorithms for Autonomous Robot Systems. Theoretical Computer Science 399, 71–82 (2008)
Valdastri, P., Corradi, P., Menciassi, A., Schmickl, T., Crailsheim, K., Seyfried, J., Dario, P.: Micromanipulation, Communication and Swarm Intelligence Issues in a Swarm Microrobotic Platform. Robotics and Autonomous Systems 54, 789–804 (2006)
Nouyan, S., Alexandre Campo, A., Dorigo, M.: Gathering Path formation in a robot swarm Self-organized strategies to find your way home. Swarm Intelligence 2(1), 1–23 (2008)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Bolla, K., Kovacs, T., Fazekas, G. (2012). Gathering of Fat Robots with Limited Visibility and without Global Navigation. In: Rutkowski, L., Korytkowski, M., Scherer, R., Tadeusiewicz, R., Zadeh, L.A., Zurada, J.M. (eds) Swarm and Evolutionary Computation. EC SIDE 2012 2012. Lecture Notes in Computer Science, vol 7269. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-29353-5_4
Download citation
DOI: https://doi.org/10.1007/978-3-642-29353-5_4
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-29352-8
Online ISBN: 978-3-642-29353-5
eBook Packages: Computer ScienceComputer Science (R0)