Position discovery for a system of bouncing robots
Artikel i vetenskaplig tidskrift, 2015

A collection of n anonymous mobile robots is deployed on a unit-perimeter ring or a unit-length line segment. Every robot starts moving at constant speed, and bounces each time it meets any other robot or segment endpoint, changing its walk direction. We study the problem of position discovery, in which the task of each robot is to detect the presence and the initial positions of all other robots. The robots cannot communicate or perceive information about the environment in any way other than by bouncing nor they have control over their walks which are determined by their initial positions and their starting directions. Each robot has a clock allowing it to observe the times of its bounces. We give complete characterizations of all initial configurations for both the ring and the segment in which no position detection algorithm exists and we design optimal position detection algorithms for all feasible configurations.

Robots

Distributed

Complexity

Computing

Algorithms

Detection

Mobile

Position

Författare

Jurek Czyzowicz

Universite du Quebec en Outaouais

Leszek A. Ga̧sieniec

University of Liverpool

Adrian Kosowski

Laboratoire Bordelais de Recherche en Informatique

Evangelos Kranakis

Carleton University

Oscar Morales

Chalmers, Data- och informationsteknik, Nätverk och system

E. Pacheco

Carleton University

Information and Computation

0890-5401 (ISSN) 1090-2651 (eISSN)

Vol. 244 122-133

Ämneskategorier

Datorseende och robotik (autonoma system)

DOI

10.1016/j.ic.2015.07.005