Formation and Agreement Problems for Synchronous Mobile Robots with Limited Visibility.
Abstract
We discuss fundamental formation and location agreement problems for autonomous, synchronous form robots with limited visibility. Each robots is a mobile with processor that, at each discrete time instant, observes. In the relative positions of those robots that are within robot distance V of itself, computes its new position using reseal the given algorithm, and then moves to that position. The main difference between this work and many of the previous ones is that, here, the visibility of the robots is assumed to be limited to within distance V, for some constant V > 0. The problems we discuss include the formation of a single point by the robots and agreement on a common x-y coordinate system and the initial distribution, and we present algorithms for these problems, except for the problem of agreement on direction (a subproblem of agreement on a coordinate system), which is not solvable even for robots with unlimited visibility. The discussions we present indicate that the correctness proofs of the algorithms for robots with limited visibility can be considerably more complex than those for robots with unlimited visibility.
Document Details
- Document Type
- Technical Report
- Publication Date
- Jan 01, 1994
- Accession Number
- ADA297164
Entities
People
- Hideki Ando
- Ichiro Suzuki
- Masafumi Yamashita
Organizations
- University of Wisconsin–Milwaukee