---
_id: '60048'
author:
- first_name: Raphael
full_name: Gerlach, Raphael
id: '32655'
last_name: Gerlach
orcid: 0009-0002-4750-2051
- first_name: Sören
full_name: von der Gracht, Sören
id: '97359'
last_name: von der Gracht
orcid: 0000-0002-8054-2058
- first_name: Michael
full_name: Dellnitz, Michael
last_name: Dellnitz
citation:
ama: 'Gerlach R, von der Gracht S, Dellnitz M. On the Dynamical Hierarchy in Gathering
Protocols with Circulant Topologies. In: Lecture Notes in Computer Science.
Springer Nature Switzerland; 2025. doi:10.1007/978-3-031-91736-3_19'
apa: Gerlach, R., von der Gracht, S., & Dellnitz, M. (2025). On the Dynamical
Hierarchy in Gathering Protocols with Circulant Topologies. In Lecture Notes
in Computer Science. Springer Nature Switzerland. https://doi.org/10.1007/978-3-031-91736-3_19
bibtex: '@inbook{Gerlach_von der Gracht_Dellnitz_2025, place={Cham}, title={On the Dynamical
Hierarchy in Gathering Protocols with Circulant Topologies}, DOI={10.1007/978-3-031-91736-3_19},
booktitle={Lecture Notes in Computer Science}, publisher={Springer Nature Switzerland},
author={Gerlach, Raphael and von der Gracht, Sören and Dellnitz, Michael}, year={2025}
}'
chicago: 'Gerlach, Raphael, Sören von der Gracht, and Michael Dellnitz. “On the Dynamical
Hierarchy in Gathering Protocols with Circulant Topologies.” In Lecture Notes
in Computer Science. Cham: Springer Nature Switzerland, 2025. https://doi.org/10.1007/978-3-031-91736-3_19.'
ieee: 'R. Gerlach, S. von der Gracht, and M. Dellnitz, “On the Dynamical Hierarchy
in Gathering Protocols with Circulant Topologies,” in Lecture Notes in Computer
Science, Cham: Springer Nature Switzerland, 2025.'
mla: Gerlach, Raphael, et al. “On the Dynamical Hierarchy in Gathering Protocols
with Circulant Topologies.” Lecture Notes in Computer Science, Springer
Nature Switzerland, 2025, doi:10.1007/978-3-031-91736-3_19.
short: 'R. Gerlach, S. von der Gracht, M. Dellnitz, in: Lecture Notes in Computer
Science, Springer Nature Switzerland, Cham, 2025.'
date_created: 2025-05-27T08:17:03Z
date_updated: 2025-05-27T08:22:42Z
department:
- _id: '101'
doi: 10.1007/978-3-031-91736-3_19
external_id:
arxiv:
- '2503.07576'
language:
- iso: eng
main_file_link:
- open_access: '1'
url: ' ArXiv:2503.07576'
oa: '1'
place: Cham
project:
- _id: '106'
grant_number: '453112019'
name: 'Algorithmen für Schwarmrobotik: Verteiltes Rechnen trifft Dynamische Systeme'
publication: Lecture Notes in Computer Science
publication_identifier:
isbn:
- '9783031917356'
- '9783031917363'
issn:
- 0302-9743
- 1611-3349
publication_status: published
publisher: Springer Nature Switzerland
status: public
title: On the Dynamical Hierarchy in Gathering Protocols with Circulant Topologies
type: book_chapter
user_id: '32655'
year: '2025'
...
---
_id: '56298'
abstract:
- lang: eng
text: "In the general pattern formation (GPF) problem, a swarm of simple autonomous,\r\ndisoriented
robots must form a given pattern. The robots' simplicity imply a\r\nstrong limitation:
When the initial configuration is rotationally symmetric,\r\nonly patterns with
a similar symmetry can be formed [Yamashita, Suzyuki; TCS\r\n2010]. The only known
algorithm to form large patterns with limited visibility\r\nand without memory
requires the robots to start in a near-gathering (a swarm of\r\nconstant diameter)
[Hahn et al.; SAND 2024]. However, not only do we not know\r\nany near-gathering
algorithm guaranteed to preserve symmetry but most natural\r\ngathering strategies
trivially increase symmetries [Castenow et al.; OPODIS\r\n2022].\r\n Thus, we
study near-gathering without changing the swarm's rotational\r\nsymmetry for disoriented,
oblivious robots with limited visibility (the\r\nOBLOT-model, see [Flocchini et
al.; 2019]). We introduce a technique based on\r\nthe theory of dynamical systems
to analyze how a given algorithm affects\r\nsymmetry and provide sufficient conditions
for symmetry preservation. Until\r\nnow, it was unknown whether the considered
OBLOT-model allows for any\r\nnon-trivial algorithm that always preserves symmetry.
Our first result shows\r\nthat a variant of Go-to-the-Average always preserves
symmetry but may sometimes\r\nlead to multiple, unconnected near-gathering clusters.
Our second result is a\r\nsymmetry-preserving near-gathering algorithm that works
on swarms with a convex\r\nboundary (the outer boundary of the unit disc graph)
and without holes (circles\r\nof diameter 1 inside the boundary without any robots)."
author:
- first_name: Raphael
full_name: Gerlach, Raphael
id: '32655'
last_name: Gerlach
orcid: 0009-0002-4750-2051
- first_name: Sören
full_name: von der Gracht, Sören
id: '97359'
last_name: von der Gracht
orcid: 0000-0002-8054-2058
- first_name: Christopher
full_name: Hahn, Christopher
last_name: Hahn
- first_name: Jonas
full_name: Harbig, Jonas
id: '47213'
last_name: Harbig
- first_name: Peter
full_name: Kling, Peter
last_name: Kling
citation:
ama: 'Gerlach R, von der Gracht S, Hahn C, Harbig J, Kling P. Symmetry Preservation
in Swarms of Oblivious Robots with Limited Visibility. In: Bonomi S, Galletta
L, Rivière Etienne, Schiavoni Valerio, eds. 28th International Conference
on Principles of Distributed Systems (OPODIS 2024). Vol 324. Leibniz International
Proceedings in Informatics (LIPIcs). Schloss Dagstuhl -- Leibniz-Zentrum für Informatik;
2025. doi:10.4230/LIPIcs.OPODIS.2024.13'
apa: Gerlach, R., von der Gracht, S., Hahn, C., Harbig, J., & Kling, P. (2025).
Symmetry Preservation in Swarms of Oblivious Robots with Limited Visibility.
In S. Bonomi, L. Galletta, Etienne Rivière, & Valerio Schiavoni (Eds.),
28th International Conference on Principles of Distributed Systems (OPODIS
2024) (Vol. 324). Schloss Dagstuhl -- Leibniz-Zentrum für Informatik. https://doi.org/10.4230/LIPIcs.OPODIS.2024.13
bibtex: '@inproceedings{Gerlach_von der Gracht_Hahn_Harbig_Kling_2025, series={Leibniz
International Proceedings in Informatics (LIPIcs)}, title={Symmetry Preservation
in Swarms of Oblivious Robots with Limited Visibility}, volume={324}, DOI={10.4230/LIPIcs.OPODIS.2024.13},
booktitle={28th International Conference on Principles of Distributed Systems
(OPODIS 2024)}, publisher={Schloss Dagstuhl -- Leibniz-Zentrum für Informatik},
author={Gerlach, Raphael and von der Gracht, Sören and Hahn, Christopher and Harbig,
Jonas and Kling, Peter}, editor={Bonomi, Silvia and Galletta, Letterio and Rivière, Etienne
and Schiavoni, Valerio}, year={2025}, collection={Leibniz International Proceedings
in Informatics (LIPIcs)} }'
chicago: Gerlach, Raphael, Sören von der Gracht, Christopher Hahn, Jonas Harbig,
and Peter Kling. “Symmetry Preservation in Swarms of Oblivious Robots with Limited
Visibility.” In 28th International Conference on Principles of Distributed
Systems (OPODIS 2024), edited by Silvia Bonomi, Letterio Galletta, Etienne
Rivière, and Valerio Schiavoni, Vol. 324. Leibniz International Proceedings in
Informatics (LIPIcs). Schloss Dagstuhl -- Leibniz-Zentrum für Informatik, 2025.
https://doi.org/10.4230/LIPIcs.OPODIS.2024.13.
ieee: 'R. Gerlach, S. von der Gracht, C. Hahn, J. Harbig, and P. Kling, “Symmetry
Preservation in Swarms of Oblivious Robots with Limited Visibility,” in 28th
International Conference on Principles of Distributed Systems (OPODIS 2024),
Lucca, Italy, 2025, vol. 324, doi: 10.4230/LIPIcs.OPODIS.2024.13.'
mla: Gerlach, Raphael, et al. “Symmetry Preservation in Swarms of Oblivious Robots
with Limited Visibility.” 28th International Conference on Principles of Distributed
Systems (OPODIS 2024), edited by Silvia Bonomi et al., vol. 324, Schloss Dagstuhl
-- Leibniz-Zentrum für Informatik, 2025, doi:10.4230/LIPIcs.OPODIS.2024.13.
short: 'R. Gerlach, S. von der Gracht, C. Hahn, J. Harbig, P. Kling, in: S. Bonomi,
L. Galletta, Etienne Rivière, Valerio Schiavoni (Eds.), 28th International Conference
on Principles of Distributed Systems (OPODIS 2024), Schloss Dagstuhl -- Leibniz-Zentrum
für Informatik, 2025.'
conference:
end_date: 2024-12-13
location: Lucca, Italy
name: 28th International Conference on Principles of Distributed Systems (OPODIS
2024)
start_date: 2024-12-11
date_created: 2024-10-01T13:29:43Z
date_updated: 2025-01-09T11:39:19Z
department:
- _id: '101'
doi: 10.4230/LIPIcs.OPODIS.2024.13
editor:
- first_name: Silvia
full_name: Bonomi, Silvia
last_name: Bonomi
- first_name: Letterio
full_name: Galletta, Letterio
last_name: Galletta
- first_name: ' Etienne'
full_name: Rivière, Etienne
last_name: Rivière
- first_name: ' Valerio'
full_name: Schiavoni, Valerio
last_name: Schiavoni
external_id:
arxiv:
- '2409.19277'
intvolume: ' 324'
keyword:
- Swarm Algorithm
- Swarm Robots
- Distributed Algorithm
- Pattern Formation
- Limited Visibility
- Oblivious
language:
- iso: eng
main_file_link:
- open_access: '1'
url: https://arxiv.org/abs/2409.19277
oa: '1'
project:
- _id: '106'
grant_number: '453112019'
name: 'Algorithmen für Schwarmrobotik: Verteiltes Rechnen trifft Dynamische Systeme'
publication: 28th International Conference on Principles of Distributed Systems (OPODIS
2024)
publication_identifier:
isbn:
- 978-3-95977-360-7
issn:
- 1868-8969
publication_status: published
publisher: Schloss Dagstuhl -- Leibniz-Zentrum für Informatik
series_title: Leibniz International Proceedings in Informatics (LIPIcs)
status: public
title: Symmetry Preservation in Swarms of Oblivious Robots with Limited Visibility
type: conference
user_id: '97359'
volume: 324
year: '2025'
...
---
_id: '58953'
abstract:
- lang: eng
text: In this article, we investigate symmetry properties of distributed systems
of mobile robots. We consider a swarm of n robots in the OBLOT model and analyze
their collective Fsync dynamics using of equivariant dynamical systems theory.
To this end, we show that the corresponding evolution function commutes with rotational
and reflective transformations of R^2. These form a group that is isomorphic to
O(2) x S_n, the product group of the orthogonal group and the permutation on n
elements. The theory of equivariant dynamical systems is used to deduce a hierarchy
along which symmetries of a robot swarm can potentially increase following an
arbitrary protocol. By decoupling the Look phase from the Compute and Move phases
in the mathematical description of an LCM cycle, this hierarchy can be characterized
in terms of automorphisms of connectivity graphs. In particular, we find all possible
types of symmetry increase, if the decoupled Compute and Move phase is invertible.
Finally, we apply our results to protocols which induce state-dependent linear
dynamics, where the reduced system consisting of only the Compute and Move phase
is linear.
author:
- first_name: Raphael
full_name: Gerlach, Raphael
id: '32655'
last_name: Gerlach
orcid: 0009-0002-4750-2051
- first_name: Sören
full_name: von der Gracht, Sören
id: '97359'
last_name: von der Gracht
orcid: 0000-0002-8054-2058
citation:
ama: Gerlach R, von der Gracht S. Analyzing Symmetries of Swarms of Mobile Robots
Using Equivariant Dynamical Systems. arXiv:250307576. Published online
2025.
apa: Gerlach, R., & von der Gracht, S. (2025). Analyzing Symmetries of Swarms
of Mobile Robots Using Equivariant Dynamical Systems. In arXiv:2503.07576.
bibtex: '@article{Gerlach_von der Gracht_2025, title={Analyzing Symmetries of Swarms
of Mobile Robots Using Equivariant Dynamical Systems}, journal={arXiv:2503.07576},
author={Gerlach, Raphael and von der Gracht, Sören}, year={2025} }'
chicago: Gerlach, Raphael, and Sören von der Gracht. “Analyzing Symmetries of Swarms
of Mobile Robots Using Equivariant Dynamical Systems.” ArXiv:2503.07576,
2025.
ieee: R. Gerlach and S. von der Gracht, “Analyzing Symmetries of Swarms of Mobile
Robots Using Equivariant Dynamical Systems,” arXiv:2503.07576. 2025.
mla: Gerlach, Raphael, and Sören von der Gracht. “Analyzing Symmetries of Swarms
of Mobile Robots Using Equivariant Dynamical Systems.” ArXiv:2503.07576,
2025.
short: R. Gerlach, S. von der Gracht, ArXiv:2503.07576 (2025).
date_created: 2025-03-11T08:21:05Z
date_updated: 2025-03-11T08:53:02Z
ddc:
- '004'
department:
- _id: '101'
external_id:
arxiv:
- '2503.07576'
file:
- access_level: open_access
content_type: application/pdf
creator: svdg
date_created: 2025-03-11T08:27:32Z
date_updated: 2025-03-11T08:27:32Z
file_id: '58954'
file_name: Analyzing_Symmetries_of_Swarms_of_Mobile_Robots_Using_Equivariant_Dynamical_Systems.pdf
file_size: 812198
relation: main_file
file_date_updated: 2025-03-11T08:27:32Z
has_accepted_license: '1'
keyword:
- dynamical systems
- coupled systems
- distributed computing
- robot swarms
- autonomous mobile robots
- symmetry
- equivariant dynamics
language:
- iso: eng
oa: '1'
page: '23'
project:
- _id: '106'
grant_number: '453112019'
name: 'Algorithmen für Schwarmrobotik: Verteiltes Rechnen trifft Dynamische Systeme'
publication: arXiv:2503.07576
status: public
title: Analyzing Symmetries of Swarms of Mobile Robots Using Equivariant Dynamical
Systems
type: preprint
user_id: '97359'
year: '2025'
...
---
_id: '33947'
article_type: original
author:
- first_name: Jannik
full_name: Castenow, Jannik
id: '38705'
last_name: Castenow
- first_name: Jonas
full_name: Harbig, Jonas
id: '47213'
last_name: Harbig
- first_name: Daniel
full_name: Jung, Daniel
id: '37827'
last_name: Jung
- first_name: Till
full_name: Knollmann, Till
id: '39241'
last_name: Knollmann
orcid: 0000-0003-2014-4696
- first_name: Friedhelm
full_name: Meyer auf der Heide, Friedhelm
id: '15523'
last_name: Meyer auf der Heide
citation:
ama: Castenow J, Harbig J, Jung D, Knollmann T, Meyer auf der Heide F. Gathering
a Euclidean Closed Chain of Robots in Linear Time and Improved Algorithms for
Chain-Formation. Theoretical Computer Science. 2023;939:261-291. doi:10.1016/j.tcs.2022.10.031
apa: Castenow, J., Harbig, J., Jung, D., Knollmann, T., & Meyer auf der Heide,
F. (2023). Gathering a Euclidean Closed Chain of Robots in Linear Time and Improved
Algorithms for Chain-Formation. Theoretical Computer Science, 939,
261–291. https://doi.org/10.1016/j.tcs.2022.10.031
bibtex: '@article{Castenow_Harbig_Jung_Knollmann_Meyer auf der Heide_2023, title={Gathering
a Euclidean Closed Chain of Robots in Linear Time and Improved Algorithms for
Chain-Formation}, volume={939}, DOI={10.1016/j.tcs.2022.10.031},
journal={Theoretical Computer Science}, publisher={Elsevier BV}, author={Castenow,
Jannik and Harbig, Jonas and Jung, Daniel and Knollmann, Till and Meyer auf der
Heide, Friedhelm}, year={2023}, pages={261–291} }'
chicago: 'Castenow, Jannik, Jonas Harbig, Daniel Jung, Till Knollmann, and Friedhelm
Meyer auf der Heide. “Gathering a Euclidean Closed Chain of Robots in Linear Time
and Improved Algorithms for Chain-Formation.” Theoretical Computer Science
939 (2023): 261–91. https://doi.org/10.1016/j.tcs.2022.10.031.'
ieee: 'J. Castenow, J. Harbig, D. Jung, T. Knollmann, and F. Meyer auf der Heide,
“Gathering a Euclidean Closed Chain of Robots in Linear Time and Improved Algorithms
for Chain-Formation,” Theoretical Computer Science, vol. 939, pp. 261–291,
2023, doi: 10.1016/j.tcs.2022.10.031.'
mla: Castenow, Jannik, et al. “Gathering a Euclidean Closed Chain of Robots in Linear
Time and Improved Algorithms for Chain-Formation.” Theoretical Computer Science,
vol. 939, Elsevier BV, 2023, pp. 261–91, doi:10.1016/j.tcs.2022.10.031.
short: J. Castenow, J. Harbig, D. Jung, T. Knollmann, F. Meyer auf der Heide, Theoretical
Computer Science 939 (2023) 261–291.
date_created: 2022-10-28T05:11:16Z
date_updated: 2023-01-30T09:20:09Z
department:
- _id: '63'
doi: 10.1016/j.tcs.2022.10.031
external_id:
arxiv:
- '2010.04424 '
intvolume: ' 939'
keyword:
- General Computer Science
- Theoretical Computer Science
language:
- iso: eng
page: 261-291
project:
- _id: '106'
name: 'Algorithmen für Schwarmrobotik: Verteiltes Rechnen trifft Dynamische Systeme'
publication: Theoretical Computer Science
publication_identifier:
issn:
- 0304-3975
publication_status: published
publisher: Elsevier BV
status: public
title: Gathering a Euclidean Closed Chain of Robots in Linear Time and Improved Algorithms
for Chain-Formation
type: journal_article
user_id: '38705'
volume: 939
year: '2023'
...
---
_id: '34008'
author:
- first_name: Jannik
full_name: Castenow, Jannik
id: '38705'
last_name: Castenow
- first_name: Jonas
full_name: Harbig, Jonas
id: '47213'
last_name: Harbig
- first_name: Daniel
full_name: Jung, Daniel
id: '37827'
last_name: Jung
- first_name: Peter
full_name: Kling, Peter
last_name: Kling
- first_name: Till
full_name: Knollmann, Till
id: '39241'
last_name: Knollmann
orcid: 0000-0003-2014-4696
- first_name: Friedhelm
full_name: Meyer auf der Heide, Friedhelm
id: '15523'
last_name: Meyer auf der Heide
citation:
ama: 'Castenow J, Harbig J, Jung D, Kling P, Knollmann T, Meyer auf der Heide F.
A Unifying Approach to Efficient (Near-)Gathering of Disoriented Robots with Limited
Visibility . In: Hillel E, Palmieri R, Riviére E, eds. Proceedings of the 26th
International Conference on Principles of Distributed Systems (OPODIS) . Vol
253. Leibniz International Proceedings in Informatics (LIPIcs). Schloss Dagstuhl
– Leibniz Zentrum für Informatik; 2023:15:1–15:25. doi:10.4230/LIPIcs.OPODIS.2022.15'
apa: Castenow, J., Harbig, J., Jung, D., Kling, P., Knollmann, T., & Meyer auf
der Heide, F. (2023). A Unifying Approach to Efficient (Near-)Gathering of Disoriented
Robots with Limited Visibility . In E. Hillel, R. Palmieri, & E. Riviére (Eds.),
Proceedings of the 26th International Conference on Principles of Distributed
Systems (OPODIS) (Vol. 253, p. 15:1–15:25). Schloss Dagstuhl – Leibniz Zentrum
für Informatik. https://doi.org/10.4230/LIPIcs.OPODIS.2022.15
bibtex: '@inproceedings{Castenow_Harbig_Jung_Kling_Knollmann_Meyer auf der Heide_2023,
place={Brussels}, series={Leibniz International Proceedings in Informatics (LIPIcs)},
title={A Unifying Approach to Efficient (Near-)Gathering of Disoriented Robots
with Limited Visibility }, volume={253}, DOI={10.4230/LIPIcs.OPODIS.2022.15},
booktitle={Proceedings of the 26th International Conference on Principles of Distributed
Systems (OPODIS) }, publisher={Schloss Dagstuhl – Leibniz Zentrum für Informatik},
author={Castenow, Jannik and Harbig, Jonas and Jung, Daniel and Kling, Peter and
Knollmann, Till and Meyer auf der Heide, Friedhelm}, editor={Hillel, Eshcar and
Palmieri, Roberto and Riviére, Etienne}, year={2023}, pages={15:1–15:25}, collection={Leibniz
International Proceedings in Informatics (LIPIcs)} }'
chicago: 'Castenow, Jannik, Jonas Harbig, Daniel Jung, Peter Kling, Till Knollmann,
and Friedhelm Meyer auf der Heide. “A Unifying Approach to Efficient (Near-)Gathering
of Disoriented Robots with Limited Visibility .” In Proceedings of the 26th
International Conference on Principles of Distributed Systems (OPODIS) , edited
by Eshcar Hillel, Roberto Palmieri, and Etienne Riviére, 253:15:1–15:25. Leibniz
International Proceedings in Informatics (LIPIcs). Brussels: Schloss Dagstuhl
– Leibniz Zentrum für Informatik, 2023. https://doi.org/10.4230/LIPIcs.OPODIS.2022.15.'
ieee: 'J. Castenow, J. Harbig, D. Jung, P. Kling, T. Knollmann, and F. Meyer auf
der Heide, “A Unifying Approach to Efficient (Near-)Gathering of Disoriented Robots
with Limited Visibility ,” in Proceedings of the 26th International Conference
on Principles of Distributed Systems (OPODIS) , Brussels, 2023, vol. 253,
p. 15:1–15:25, doi: 10.4230/LIPIcs.OPODIS.2022.15.'
mla: Castenow, Jannik, et al. “A Unifying Approach to Efficient (Near-)Gathering
of Disoriented Robots with Limited Visibility .” Proceedings of the 26th International
Conference on Principles of Distributed Systems (OPODIS) , edited by Eshcar
Hillel et al., vol. 253, Schloss Dagstuhl – Leibniz Zentrum für Informatik, 2023,
p. 15:1–15:25, doi:10.4230/LIPIcs.OPODIS.2022.15.
short: 'J. Castenow, J. Harbig, D. Jung, P. Kling, T. Knollmann, F. Meyer auf der
Heide, in: E. Hillel, R. Palmieri, E. Riviére (Eds.), Proceedings of the 26th
International Conference on Principles of Distributed Systems (OPODIS) , Schloss
Dagstuhl – Leibniz Zentrum für Informatik, Brussels, 2023, p. 15:1–15:25.'
conference:
end_date: 2022-12-15
location: Brussels
name: 26th International Conference on Principles of Distributed Systems (OPODIS)
start_date: 2022-12-13
date_created: 2022-11-04T09:41:30Z
date_updated: 2023-02-15T14:53:12Z
department:
- _id: '63'
doi: 10.4230/LIPIcs.OPODIS.2022.15
editor:
- first_name: Eshcar
full_name: Hillel, Eshcar
last_name: Hillel
- first_name: Roberto
full_name: Palmieri, Roberto
last_name: Palmieri
- first_name: Etienne
full_name: Riviére, Etienne
last_name: Riviére
external_id:
arxiv:
- '2206.07567 '
intvolume: ' 253'
language:
- iso: eng
page: 15:1–15:25
place: Brussels
project:
- _id: '106'
name: 'Algorithmen für Schwarmrobotik: Verteiltes Rechnen trifft Dynamische Systeme'
publication: 'Proceedings of the 26th International Conference on Principles of Distributed
Systems (OPODIS) '
publication_identifier:
isbn:
- 978-3-95977-265-5
issn:
- 1868-8969
publication_status: published
publisher: Schloss Dagstuhl – Leibniz Zentrum für Informatik
series_title: Leibniz International Proceedings in Informatics (LIPIcs)
status: public
title: 'A Unifying Approach to Efficient (Near-)Gathering of Disoriented Robots with
Limited Visibility '
type: conference
user_id: '38705'
volume: 253
year: '2023'
...
---
_id: '44769'
author:
- first_name: Jannik
full_name: Castenow, Jannik
id: '38705'
last_name: Castenow
- first_name: Jonas
full_name: Harbig, Jonas
id: '47213'
last_name: Harbig
- first_name: Friedhelm
full_name: Meyer auf der Heide, Friedhelm
id: '15523'
last_name: Meyer auf der Heide
citation:
ama: 'Castenow J, Harbig J, Meyer auf der Heide F. Unifying Gathering Protocols
for Swarms of Mobile Robots. In: Lecture Notes in Computer Science. Springer
International Publishing; 2023. doi:10.1007/978-3-031-30448-4_1'
apa: Castenow, J., Harbig, J., & Meyer auf der Heide, F. (2023). Unifying Gathering
Protocols for Swarms of Mobile Robots. In Lecture Notes in Computer Science.
Springer International Publishing. https://doi.org/10.1007/978-3-031-30448-4_1
bibtex: '@inbook{Castenow_Harbig_Meyer auf der Heide_2023, place={Cham}, title={Unifying
Gathering Protocols for Swarms of Mobile Robots}, DOI={10.1007/978-3-031-30448-4_1},
booktitle={Lecture Notes in Computer Science}, publisher={Springer International
Publishing}, author={Castenow, Jannik and Harbig, Jonas and Meyer auf der Heide,
Friedhelm}, year={2023} }'
chicago: 'Castenow, Jannik, Jonas Harbig, and Friedhelm Meyer auf der Heide. “Unifying
Gathering Protocols for Swarms of Mobile Robots.” In Lecture Notes in Computer
Science. Cham: Springer International Publishing, 2023. https://doi.org/10.1007/978-3-031-30448-4_1.'
ieee: 'J. Castenow, J. Harbig, and F. Meyer auf der Heide, “Unifying Gathering Protocols
for Swarms of Mobile Robots,” in Lecture Notes in Computer Science, Cham:
Springer International Publishing, 2023.'
mla: Castenow, Jannik, et al. “Unifying Gathering Protocols for Swarms of Mobile
Robots.” Lecture Notes in Computer Science, Springer International Publishing,
2023, doi:10.1007/978-3-031-30448-4_1.
short: 'J. Castenow, J. Harbig, F. Meyer auf der Heide, in: Lecture Notes in Computer
Science, Springer International Publishing, Cham, 2023.'
date_created: 2023-05-11T13:13:45Z
date_updated: 2023-05-11T13:14:43Z
department:
- _id: '63'
doi: 10.1007/978-3-031-30448-4_1
language:
- iso: eng
place: Cham
project:
- _id: '106'
name: 'Algorithmen für Schwarmrobotik: Verteiltes Rechnen trifft Dynamische Systeme'
publication: Lecture Notes in Computer Science
publication_identifier:
isbn:
- '9783031304477'
- '9783031304484'
issn:
- 0302-9743
- 1611-3349
publication_status: published
publisher: Springer International Publishing
status: public
title: Unifying Gathering Protocols for Swarms of Mobile Robots
type: book_chapter
user_id: '38705'
year: '2023'
...
---
_id: '29843'
article_number: '104877'
author:
- first_name: Jannik
full_name: Castenow, Jannik
id: '38705'
last_name: Castenow
- first_name: Peter
full_name: Kling, Peter
last_name: Kling
- first_name: Till
full_name: Knollmann, Till
id: '39241'
last_name: Knollmann
orcid: 0000-0003-2014-4696
- first_name: Friedhelm
full_name: Meyer auf der Heide, Friedhelm
id: '15523'
last_name: Meyer auf der Heide
citation:
ama: Castenow J, Kling P, Knollmann T, Meyer auf der Heide F. A Discrete and Continuous
Study of the Max-Chain-Formation Problem. Information and Computation.
Published online 2022. doi:10.1016/j.ic.2022.104877
apa: Castenow, J., Kling, P., Knollmann, T., & Meyer auf der Heide, F. (2022).
A Discrete and Continuous Study of the Max-Chain-Formation Problem. Information
and Computation, Article 104877. https://doi.org/10.1016/j.ic.2022.104877
bibtex: '@article{Castenow_Kling_Knollmann_Meyer auf der Heide_2022, title={A Discrete
and Continuous Study of the Max-Chain-Formation Problem}, DOI={10.1016/j.ic.2022.104877},
number={104877}, journal={Information and Computation}, publisher={Elsevier BV},
author={Castenow, Jannik and Kling, Peter and Knollmann, Till and Meyer auf der
Heide, Friedhelm}, year={2022} }'
chicago: Castenow, Jannik, Peter Kling, Till Knollmann, and Friedhelm Meyer auf
der Heide. “A Discrete and Continuous Study of the Max-Chain-Formation Problem.”
Information and Computation, 2022. https://doi.org/10.1016/j.ic.2022.104877.
ieee: 'J. Castenow, P. Kling, T. Knollmann, and F. Meyer auf der Heide, “A Discrete
and Continuous Study of the Max-Chain-Formation Problem,” Information and Computation,
Art. no. 104877, 2022, doi: 10.1016/j.ic.2022.104877.'
mla: Castenow, Jannik, et al. “A Discrete and Continuous Study of the Max-Chain-Formation
Problem.” Information and Computation, 104877, Elsevier BV, 2022, doi:10.1016/j.ic.2022.104877.
short: J. Castenow, P. Kling, T. Knollmann, F. Meyer auf der Heide, Information
and Computation (2022).
date_created: 2022-02-15T07:38:28Z
date_updated: 2022-02-15T07:41:00Z
department:
- _id: '63'
doi: 10.1016/j.ic.2022.104877
keyword:
- Computational Theory and Mathematics
- Computer Science Applications
- Information Systems
- Theoretical Computer Science
language:
- iso: eng
project:
- _id: '106'
name: 'Algorithmen für Schwarmrobotik: Verteiltes Rechnen trifft Dynamische Systeme'
publication: Information and Computation
publication_identifier:
issn:
- 0890-5401
publication_status: published
publisher: Elsevier BV
status: public
title: A Discrete and Continuous Study of the Max-Chain-Formation Problem
type: journal_article
user_id: '38705'
year: '2022'
...
---
_id: '23730'
author:
- first_name: Jannik
full_name: Castenow, Jannik
id: '38705'
last_name: Castenow
- first_name: Jonas
full_name: Harbig, Jonas
id: '47213'
last_name: Harbig
- first_name: Daniel
full_name: Jung, Daniel
id: '37827'
last_name: Jung
- first_name: Till
full_name: Knollmann, Till
id: '39241'
last_name: Knollmann
orcid: 0000-0003-2014-4696
- first_name: Friedhelm
full_name: Meyer auf der Heide, Friedhelm
id: '15523'
last_name: Meyer auf der Heide
citation:
ama: 'Castenow J, Harbig J, Jung D, Knollmann T, Meyer auf der Heide F. Gathering
a Euclidean Closed Chain of Robots in Linear Time. In: Gasieniec L, Klasing R,
Radzik T, eds. Proceedings of the 17th International Symposium on Algorithms
and Experiments for Wireless Sensor Networks (ALGOSENSORS). Vol 12961. LNCS.
Springer; 2021:29-44. doi:10.1007/978-3-030-89240-1_3'
apa: Castenow, J., Harbig, J., Jung, D., Knollmann, T., & Meyer auf der Heide,
F. (2021). Gathering a Euclidean Closed Chain of Robots in Linear Time. In L.
Gasieniec, R. Klasing, & T. Radzik (Eds.), Proceedings of the 17th International
Symposium on Algorithms and Experiments for Wireless Sensor Networks (ALGOSENSORS)
(Vol. 12961, pp. 29–44). Springer. https://doi.org/10.1007/978-3-030-89240-1_3
bibtex: '@inproceedings{Castenow_Harbig_Jung_Knollmann_Meyer auf der Heide_2021,
series={LNCS}, title={Gathering a Euclidean Closed Chain of Robots in Linear Time},
volume={12961}, DOI={10.1007/978-3-030-89240-1_3},
booktitle={Proceedings of the 17th International Symposium on Algorithms and Experiments
for Wireless Sensor Networks (ALGOSENSORS)}, publisher={Springer}, author={Castenow,
Jannik and Harbig, Jonas and Jung, Daniel and Knollmann, Till and Meyer auf der
Heide, Friedhelm}, editor={Gasieniec, Leszek and Klasing, Ralf and Radzik, Tomasz},
year={2021}, pages={29–44}, collection={LNCS} }'
chicago: Castenow, Jannik, Jonas Harbig, Daniel Jung, Till Knollmann, and Friedhelm
Meyer auf der Heide. “Gathering a Euclidean Closed Chain of Robots in Linear Time.”
In Proceedings of the 17th International Symposium on Algorithms and Experiments
for Wireless Sensor Networks (ALGOSENSORS), edited by Leszek Gasieniec, Ralf
Klasing, and Tomasz Radzik, 12961:29–44. LNCS. Springer, 2021. https://doi.org/10.1007/978-3-030-89240-1_3.
ieee: 'J. Castenow, J. Harbig, D. Jung, T. Knollmann, and F. Meyer auf der Heide,
“Gathering a Euclidean Closed Chain of Robots in Linear Time,” in Proceedings
of the 17th International Symposium on Algorithms and Experiments for Wireless
Sensor Networks (ALGOSENSORS), Lissabon, 2021, vol. 12961, pp. 29–44, doi:
10.1007/978-3-030-89240-1_3.'
mla: Castenow, Jannik, et al. “Gathering a Euclidean Closed Chain of Robots in Linear
Time.” Proceedings of the 17th International Symposium on Algorithms and Experiments
for Wireless Sensor Networks (ALGOSENSORS), edited by Leszek Gasieniec et
al., vol. 12961, Springer, 2021, pp. 29–44, doi:10.1007/978-3-030-89240-1_3.
short: 'J. Castenow, J. Harbig, D. Jung, T. Knollmann, F. Meyer auf der Heide, in:
L. Gasieniec, R. Klasing, T. Radzik (Eds.), Proceedings of the 17th International
Symposium on Algorithms and Experiments for Wireless Sensor Networks (ALGOSENSORS),
Springer, 2021, pp. 29–44.'
conference:
end_date: 2021-09-10
location: Lissabon
name: 17th International Symposium on Algorithms and Experiments for Wireless Sensor
Networks (ALGOSENSORS) 2021
start_date: 2021-09-09
date_created: 2021-09-03T09:01:25Z
date_updated: 2022-01-06T06:55:58Z
department:
- _id: '63'
doi: 10.1007/978-3-030-89240-1_3
editor:
- first_name: Leszek
full_name: Gasieniec, Leszek
last_name: Gasieniec
- first_name: Ralf
full_name: Klasing, Ralf
last_name: Klasing
- first_name: Tomasz
full_name: Radzik, Tomasz
last_name: Radzik
external_id:
arxiv:
- '2010.04424'
intvolume: ' 12961'
language:
- iso: eng
page: 29 - 44
project:
- _id: '106'
name: 'Algorithmen für Schwarmrobotik: Verteiltes Rechnen trifft Dynamische Systeme'
publication: Proceedings of the 17th International Symposium on Algorithms and Experiments
for Wireless Sensor Networks (ALGOSENSORS)
publication_status: published
publisher: Springer
series_title: LNCS
status: public
title: Gathering a Euclidean Closed Chain of Robots in Linear Time
type: conference
user_id: '38705'
volume: 12961
year: '2021'
...
---
_id: '26986'
author:
- first_name: Jannik
full_name: Castenow, Jannik
id: '38705'
last_name: Castenow
- first_name: Thorsten
full_name: Götte, Thorsten
id: '34727'
last_name: Götte
- first_name: Till
full_name: Knollmann, Till
id: '39241'
last_name: Knollmann
orcid: 0000-0003-2014-4696
- first_name: Friedhelm
full_name: Meyer auf der Heide, Friedhelm
id: '15523'
last_name: Meyer auf der Heide
citation:
ama: 'Castenow J, Götte T, Knollmann T, Meyer auf der Heide F. The Max-Line-Formation
Problem – And New Insights for Gathering and Chain-Formation. In: Johnen C, Schiller
EM, Schmid S, eds. Proceedings of the 23rd International Symposium on Stabilization,
Safety, and Security of Distributed Systems, SSS 2021. Vol 13046. LNCS. Springer;
2021:289-304. doi:10.1007/978-3-030-91081-5_19'
apa: Castenow, J., Götte, T., Knollmann, T., & Meyer auf der Heide, F. (2021).
The Max-Line-Formation Problem – And New Insights for Gathering and Chain-Formation.
In C. Johnen, E. M. Schiller, & S. Schmid (Eds.), Proceedings of the 23rd
International Symposium on Stabilization, Safety, and Security of Distributed
Systems, SSS 2021 (Vol. 13046, pp. 289–304). Springer. https://doi.org/10.1007/978-3-030-91081-5_19
bibtex: '@inproceedings{Castenow_Götte_Knollmann_Meyer auf der Heide_2021, series={LNCS},
title={The Max-Line-Formation Problem – And New Insights for Gathering and Chain-Formation},
volume={13046}, DOI={10.1007/978-3-030-91081-5_19},
booktitle={Proceedings of the 23rd International Symposium on Stabilization, Safety,
and Security of Distributed Systems, SSS 2021}, publisher={Springer}, author={Castenow,
Jannik and Götte, Thorsten and Knollmann, Till and Meyer auf der Heide, Friedhelm},
editor={Johnen, C. and Schiller, E.M. and Schmid, S.}, year={2021}, pages={289–304},
collection={LNCS} }'
chicago: Castenow, Jannik, Thorsten Götte, Till Knollmann, and Friedhelm Meyer auf
der Heide. “The Max-Line-Formation Problem – And New Insights for Gathering and
Chain-Formation.” In Proceedings of the 23rd International Symposium on Stabilization,
Safety, and Security of Distributed Systems, SSS 2021, edited by C. Johnen,
E.M. Schiller, and S. Schmid, 13046:289–304. LNCS. Springer, 2021. https://doi.org/10.1007/978-3-030-91081-5_19.
ieee: 'J. Castenow, T. Götte, T. Knollmann, and F. Meyer auf der Heide, “The Max-Line-Formation
Problem – And New Insights for Gathering and Chain-Formation,” in Proceedings
of the 23rd International Symposium on Stabilization, Safety, and Security of
Distributed Systems, SSS 2021, Online, 2021, vol. 13046, pp. 289–304, doi:
10.1007/978-3-030-91081-5_19.'
mla: Castenow, Jannik, et al. “The Max-Line-Formation Problem – And New Insights
for Gathering and Chain-Formation.” Proceedings of the 23rd International Symposium
on Stabilization, Safety, and Security of Distributed Systems, SSS 2021, edited
by C. Johnen et al., vol. 13046, Springer, 2021, pp. 289–304, doi:10.1007/978-3-030-91081-5_19.
short: 'J. Castenow, T. Götte, T. Knollmann, F. Meyer auf der Heide, in: C. Johnen,
E.M. Schiller, S. Schmid (Eds.), Proceedings of the 23rd International Symposium
on Stabilization, Safety, and Security of Distributed Systems, SSS 2021, Springer,
2021, pp. 289–304.'
conference:
end_date: 2021-11-20
location: Online
name: 23rd International Symposium on Stabilization, Safety, and Security of Distributed
Systems
start_date: 2021-11-17
date_created: 2021-10-28T07:01:30Z
date_updated: 2022-01-07T15:24:10Z
department:
- _id: '63'
doi: 10.1007/978-3-030-91081-5_19
editor:
- first_name: C.
full_name: Johnen, C.
last_name: Johnen
- first_name: E.M.
full_name: Schiller, E.M.
last_name: Schiller
- first_name: S.
full_name: Schmid, S.
last_name: Schmid
external_id:
arxiv:
- '2109.11856'
intvolume: ' 13046'
language:
- iso: eng
page: '289-304 '
project:
- _id: '106'
name: 'Algorithmen für Schwarmrobotik: Verteiltes Rechnen trifft Dynamische Systeme'
publication: Proceedings of the 23rd International Symposium on Stabilization, Safety,
and Security of Distributed Systems, SSS 2021
publication_status: published
publisher: Springer
series_title: LNCS
status: public
title: The Max-Line-Formation Problem – And New Insights for Gathering and Chain-Formation
type: conference
user_id: '38705'
volume: 13046
year: '2021'
...