---
_id: '20709'
author:
- first_name: Andreas
  full_name: Cord-Landwehr, Andreas
  last_name: Cord-Landwehr
- first_name: Bastian
  full_name: Degener, Bastian
  last_name: Degener
- first_name: Matthias
  full_name: Fischer, Matthias
  last_name: Fischer
- first_name: Martina
  full_name: Hüllmann, Martina
  last_name: Hüllmann
- first_name: Barbara
  full_name: Kempkes, Barbara
  last_name: Kempkes
- first_name: Alexander
  full_name: Klaas, Alexander
  last_name: Klaas
- first_name: Peter
  full_name: Kling, Peter
  last_name: Kling
- first_name: Sven
  full_name: Kurras, Sven
  last_name: Kurras
- first_name: Marcus
  full_name: Märtens, Marcus
  last_name: Märtens
- first_name: Friedhelm Meyer
  full_name: auf der Heide, Friedhelm Meyer
  last_name: auf der Heide
- first_name: Christoph
  full_name: Raupach, Christoph
  last_name: Raupach
- first_name: Kamil
  full_name: Swierkot, Kamil
  last_name: Swierkot
- first_name: Daniel
  full_name: Warner, Daniel
  id: '3902'
  last_name: Warner
- first_name: Christoph
  full_name: Weddemann, Christoph
  last_name: Weddemann
- first_name: Daniel
  full_name: Wonisch, Daniel
  last_name: Wonisch
citation:
  ama: 'Cord-Landwehr A, Degener B, Fischer M, et al. Collisionless Gathering of Robots
    with an Extent. In: <i>SOFSEM 2011: Theory and Practice of Computer Science</i>.
    Berlin, Heidelberg; 2011. doi:<a href="https://doi.org/10.1007/978-3-642-18381-2_15">10.1007/978-3-642-18381-2_15</a>'
  apa: 'Cord-Landwehr, A., Degener, B., Fischer, M., Hüllmann, M., Kempkes, B., Klaas,
    A., … Wonisch, D. (2011). Collisionless Gathering of Robots with an Extent. In
    <i>SOFSEM 2011: Theory and Practice of Computer Science</i>. Berlin, Heidelberg.
    <a href="https://doi.org/10.1007/978-3-642-18381-2_15">https://doi.org/10.1007/978-3-642-18381-2_15</a>'
  bibtex: '@inbook{Cord-Landwehr_Degener_Fischer_Hüllmann_Kempkes_Klaas_Kling_Kurras_Märtens_auf
    der Heide_et al._2011, place={Berlin, Heidelberg}, title={Collisionless Gathering
    of Robots with an Extent}, DOI={<a href="https://doi.org/10.1007/978-3-642-18381-2_15">10.1007/978-3-642-18381-2_15</a>},
    booktitle={SOFSEM 2011: Theory and Practice of Computer Science}, author={Cord-Landwehr,
    Andreas and Degener, Bastian and Fischer, Matthias and Hüllmann, Martina and Kempkes,
    Barbara and Klaas, Alexander and Kling, Peter and Kurras, Sven and Märtens, Marcus
    and auf der Heide, Friedhelm Meyer and et al.}, year={2011} }'
  chicago: 'Cord-Landwehr, Andreas, Bastian Degener, Matthias Fischer, Martina Hüllmann,
    Barbara Kempkes, Alexander Klaas, Peter Kling, et al. “Collisionless Gathering
    of Robots with an Extent.” In <i>SOFSEM 2011: Theory and Practice of Computer
    Science</i>. Berlin, Heidelberg, 2011. <a href="https://doi.org/10.1007/978-3-642-18381-2_15">https://doi.org/10.1007/978-3-642-18381-2_15</a>.'
  ieee: 'A. Cord-Landwehr <i>et al.</i>, “Collisionless Gathering of Robots with an
    Extent,” in <i>SOFSEM 2011: Theory and Practice of Computer Science</i>, Berlin,
    Heidelberg, 2011.'
  mla: 'Cord-Landwehr, Andreas, et al. “Collisionless Gathering of Robots with an
    Extent.” <i>SOFSEM 2011: Theory and Practice of Computer Science</i>, 2011, doi:<a
    href="https://doi.org/10.1007/978-3-642-18381-2_15">10.1007/978-3-642-18381-2_15</a>.'
  short: 'A. Cord-Landwehr, B. Degener, M. Fischer, M. Hüllmann, B. Kempkes, A. Klaas,
    P. Kling, S. Kurras, M. Märtens, F.M. auf der Heide, C. Raupach, K. Swierkot,
    D. Warner, C. Weddemann, D. Wonisch, in: SOFSEM 2011: Theory and Practice of Computer
    Science, Berlin, Heidelberg, 2011.'
date_created: 2020-12-12T11:15:30Z
date_updated: 2022-01-06T06:54:33Z
department:
- _id: '63'
doi: 10.1007/978-3-642-18381-2_15
language:
- iso: eng
place: Berlin, Heidelberg
publication: 'SOFSEM 2011: Theory and Practice of Computer Science'
publication_identifier:
  isbn:
  - '9783642183805'
  - '9783642183812'
  issn:
  - 0302-9743
  - 1611-3349
publication_status: published
status: public
title: Collisionless Gathering of Robots with an Extent
type: book_chapter
user_id: '3902'
year: '2011'
...
---
_id: '16410'
abstract:
- lang: eng
  text: 'Gathering n mobile robots in one single point in the Euclidean plane is a
    widely studied problem from the area of robot formation problems. Classically,
    the robots are assumed to have no physical extent, and they are able to share
    a position with other robots. We drop these assumptions and investigate a similar
    problem for robots with (a spherical) extent: the goal is to gather the robots
    as close together as possible. More exactly, we want the robots to form a sphere
    with minimum radius around a predefined point. We propose an algorithm for this
    problem which synchronously moves the robots towards the center of the sphere
    unless they block each other. In this case, if possible, the robots spin around
    the center of the sphere. We analyze this algorithm experimentally in the plane.
    If R is the distance of the farthest robot to the center of the sphere, the simulations
    indicate a runtime which is linear in n and R. Additionally, we prove a theoretic
    upper bound for the runtime of O(nR) for a discrete version of the problem. Simulations
    also suggest a runtime of O(n + R) for the discrete version.'
author:
- first_name: Andreas
  full_name: Cord-Landwehr, Andreas
  last_name: Cord-Landwehr
- first_name: Bastian
  full_name: Degener, Bastian
  last_name: Degener
- first_name: Matthias
  full_name: Fischer, Matthias
  id: '146'
  last_name: Fischer
- first_name: Martina
  full_name: Hüllmann, Martina
  last_name: Hüllmann
- first_name: Barbara
  full_name: Kempkes, Barbara
  last_name: Kempkes
- first_name: Alexander
  full_name: Klaas, Alexander
  last_name: Klaas
- first_name: Peter
  full_name: Kling, Peter
  last_name: Kling
- first_name: Sven
  full_name: Kurras, Sven
  last_name: Kurras
- first_name: Marcus
  full_name: Märtens, Marcus
  last_name: Märtens
- first_name: Friedhelm
  full_name: Meyer auf der Heide, Friedhelm
  id: '15523'
  last_name: Meyer auf der Heide
- first_name: Christoph
  full_name: Raupach, Christoph
  last_name: Raupach
- first_name: Kamil
  full_name: Swierkot, Kamil
  last_name: Swierkot
- first_name: Daniel
  full_name: Warner, Daniel
  last_name: Warner
- first_name: Christoph
  full_name: Weddemann, Christoph
  last_name: Weddemann
- first_name: Daniel
  full_name: Wonisch, Daniel
  last_name: Wonisch
citation:
  ama: 'Cord-Landwehr A, Degener B, Fischer M, et al. Collisionless Gathering of Robots
    with an Extent. In: <i>37th International Conference on Current Trends in Theory
    and Practice of Computer Science (SOFSEM 2011)</i>. Springer; 2011:178-189. doi:<a
    href="https://doi.org/10.1007/978-3-642-18381-2_15">10.1007/978-3-642-18381-2_15</a>'
  apa: Cord-Landwehr, A., Degener, B., Fischer, M., Hüllmann, M., Kempkes, B., Klaas,
    A., … Wonisch, D. (2011). Collisionless Gathering of Robots with an Extent. In
    <i>37th International Conference on Current Trends in Theory and Practice of Computer
    Science (SOFSEM 2011)</i> (pp. 178–189). Springer. <a href="https://doi.org/10.1007/978-3-642-18381-2_15">https://doi.org/10.1007/978-3-642-18381-2_15</a>
  bibtex: '@inproceedings{Cord-Landwehr_Degener_Fischer_Hüllmann_Kempkes_Klaas_Kling_Kurras_Märtens_Meyer
    auf der Heide_et al._2011, title={Collisionless Gathering of Robots with an Extent},
    DOI={<a href="https://doi.org/10.1007/978-3-642-18381-2_15">10.1007/978-3-642-18381-2_15</a>},
    number={6543}, booktitle={37th International Conference on Current Trends in Theory
    and Practice of Computer Science (SOFSEM 2011)}, publisher={Springer}, author={Cord-Landwehr,
    Andreas and Degener, Bastian and Fischer, Matthias and Hüllmann, Martina and Kempkes,
    Barbara and Klaas, Alexander and Kling, Peter and Kurras, Sven and Märtens, Marcus
    and Meyer auf der Heide, Friedhelm and et al.}, year={2011}, pages={178–189} }'
  chicago: Cord-Landwehr, Andreas, Bastian Degener, Matthias Fischer, Martina Hüllmann,
    Barbara Kempkes, Alexander Klaas, Peter Kling, et al. “Collisionless Gathering
    of Robots with an Extent.” In <i>37th International Conference on Current Trends
    in Theory and Practice of Computer Science (SOFSEM 2011)</i>, 178–89. Springer,
    2011. <a href="https://doi.org/10.1007/978-3-642-18381-2_15">https://doi.org/10.1007/978-3-642-18381-2_15</a>.
  ieee: A. Cord-Landwehr <i>et al.</i>, “Collisionless Gathering of Robots with an
    Extent,” in <i>37th International Conference on Current Trends in Theory and Practice
    of Computer Science (SOFSEM 2011)</i>, 2011, no. 6543, pp. 178–189.
  mla: Cord-Landwehr, Andreas, et al. “Collisionless Gathering of Robots with an Extent.”
    <i>37th International Conference on Current Trends in Theory and Practice of Computer
    Science (SOFSEM 2011)</i>, no. 6543, Springer, 2011, pp. 178–89, doi:<a href="https://doi.org/10.1007/978-3-642-18381-2_15">10.1007/978-3-642-18381-2_15</a>.
  short: 'A. Cord-Landwehr, B. Degener, M. Fischer, M. Hüllmann, B. Kempkes, A. Klaas,
    P. Kling, S. Kurras, M. Märtens, F. Meyer auf der Heide, C. Raupach, K. Swierkot,
    D. Warner, C. Weddemann, D. Wonisch, in: 37th International Conference on Current
    Trends in Theory and Practice of Computer Science (SOFSEM 2011), Springer, 2011,
    pp. 178–189.'
date_created: 2020-04-06T07:52:42Z
date_updated: 2022-01-06T06:52:50Z
department:
- _id: '63'
doi: 10.1007/978-3-642-18381-2_15
issue: '6543'
language:
- iso: eng
page: 178-189
publication: 37th International Conference on Current Trends in Theory and Practice
  of Computer Science (SOFSEM 2011)
publication_identifier:
  isbn:
  - '9783642183805'
  - '9783642183812'
  issn:
  - 0302-9743
  - 1611-3349
publication_status: published
publisher: Springer
status: public
title: Collisionless Gathering of Robots with an Extent
type: conference
user_id: '15415'
year: '2011'
...