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Research Report - School of Information Science ： ISSN 0918-7553 >
IS-RR-2006 >
このアイテムの引用には次の識別子を使用してください:
http://hdl.handle.net/10119/4794
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| タイトル: | Gathering asychronous mobile robots with inaccurate compasses |
| 著者: | Souissi, Samia
Defago, Xavier
Yamashita, Masafumi |
| キーワード: | Mobile cooperative computing
distributed algorithms
autonomous robots
gathering
inaccurate compasses
oblivious computations
self-stabilization |
| 発行日: | 2006-09-11 |
| 出版者: | 北陸先端科学技術大学院大学情報科学研究科 |
| 誌名: | Research report (School of Information Science, Japan Advanced Institute of Science and Technology) |
| 巻: | IS-RR-2006-014 |
| 開始ページ: | 1 |
| 終了ページ: | 20 |
| 抄録: | This paper considers a system of asynchronous autonomous mobile robots that can move freely in a twodimensional plane with no agreement on a common coordinate system. Starting from any initial configuration, the robots are required to eventually gather at a single point, not fixed in advance (gathering problem). Prior work has shown that gathering oblivious (i.e., stateless) robots cannot be achieved deterministically without additional assumptions. In particular, if robots can detect multiplicity (i.e., count robots that share the same location) gathering is possible for three or more robots. Similarly, gathering of any number of robots is possible if the robots share a common direction, as given by compasses, with no errors. Our work is motivated by the pragmatic standpoint that (1) compasses are error-prone devices in reality, and (2) multiplicity detection, while being easy to achieve, allow gathering for situations with more than two robots. Consequently, this paper focusses on gathering two asynchronous robots equipped with inaccurate compasses. In particular, we provide a self-stabilizing algorithm to gather, in a finite number of steps, two oblivious robots equipped with compasses that can differ by as much as π/ 4. |
| URI: | http://hdl.handle.net/10119/4794 |
| 資料タイプ: | publisher |
| 出現コレクション: | IS-RR-2006
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このアイテムのファイル:
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記述 |
サイズ | 形式 |
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| IS-RR-2006-014.pdf | | 1060Kb | Adobe PDF | 見る/開く |
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