A continuous strategy for collisionless gathering

S. Li, C. Markarian, F. Meyer auf der Heide, P. Podlipyan, Theoretical Computer Science 852 (2021) 41–60.

Download
No fulltext has been uploaded.
Journal Article | Published | English
Author
; ; ;
Abstract
Over the past decades, the Gathering problem, which asks to gather a group of robots in finite time given some restrictions, has been intensively studied. In this paper, we are given a group of n autonomous, dimensionless, deterministic, and anonymous robots, with bounded viewing range. Assuming a continuous time model, the goal is to gather these robots into one point in finite time. We introduce a simple convergence criterion that defines a new class of algorithms which perform gathering in O(nd) time, where d is the diameter of the initial robot configuration. We show that some gathering algorithms in the literature belong to this class and propose two new algorithms that belong to this class and have quadratic running time, namely, Go-To-The-Relative-Center algorithm (GTRC) and Safe-Go-To-The-Relative-Center algorithm (S-GTRC). We prove that the latter can perform gathering without collision by using a slightly more complex robot model: non oblivious, chiral, and luminous (i.e. robots have observable external memory, as in [8]). We also consider a variant of the Gathering problem, the Near-Gathering problem, in which robots must get close to each other without colliding. We show that S-GTRC solves the Near-Gathering problem in quadratic time and assumes a weaker robot model than the one assumed in the current state-of-the-art.
Publishing Year
Journal Title
Theoretical Computer Science
Volume
852
Page
41-60
ISSN
LibreCat-ID

Cite this

Li S, Markarian C, Meyer auf der Heide F, Podlipyan P. A continuous strategy for collisionless gathering. Theoretical Computer Science. 2021;852:41-60. doi:10.1016/j.tcs.2020.10.037
Li, S., Markarian, C., Meyer auf der Heide, F., & Podlipyan, P. (2021). A continuous strategy for collisionless gathering. Theoretical Computer Science, 852, 41–60. https://doi.org/10.1016/j.tcs.2020.10.037
@article{Li_Markarian_Meyer auf der Heide_Podlipyan_2021, title={A continuous strategy for collisionless gathering}, volume={852}, DOI={10.1016/j.tcs.2020.10.037}, journal={Theoretical Computer Science}, author={Li, Shouwei and Markarian, Christine and Meyer auf der Heide, Friedhelm and Podlipyan, Pavel}, year={2021}, pages={41–60} }
Li, Shouwei, Christine Markarian, Friedhelm Meyer auf der Heide, and Pavel Podlipyan. “A Continuous Strategy for Collisionless Gathering.” Theoretical Computer Science 852 (2021): 41–60. https://doi.org/10.1016/j.tcs.2020.10.037.
S. Li, C. Markarian, F. Meyer auf der Heide, and P. Podlipyan, “A continuous strategy for collisionless gathering,” Theoretical Computer Science, vol. 852, pp. 41–60, 2021.
Li, Shouwei, et al. “A Continuous Strategy for Collisionless Gathering.” Theoretical Computer Science, vol. 852, 2021, pp. 41–60, doi:10.1016/j.tcs.2020.10.037.

Export

Marked Publications

Open Data LibreCat

Search this title in

Google Scholar