---
res:
bibo_abstract:
- "In this paper, we reconsider the well-known discrete, round-based Go-To-The-Center
algorithm due to Ando, Suzuki, and Yamashita [2] for gathering n autonomous mobile
robots with limited viewing range in the plane. Remarquably, this algorithm exploits
the fact that during its execution, many collisions of robots occur. Such collisions
are interpreted as a success because it is assumed that such collided robots behave
the same from now on. This is acceptable under the assumption that each robot
is represented by a single point. Otherwise, collisions should be avoided. In
this paper, we consider a continuous Go-To-The-Center algorithm in which the robots
continuously observe the positions of their neighbors and adapt their speed (assuming
a speed limit) and direction. Our first results are time bounds of O(n2) for gathering
in two dimensions Euclidean space, and Θ(n) for the one dimension. Our main contribution
is the introduction and evaluation of a continuous algorithm which performs Go-To-The-Center
considering only the neighbors of a robot with respect to the Gabriel subgraph
of the visibility graph, i.e. Go-To-The-Gabriel-Center algorithm. We show that
this modification still correctly executes gathering in one and two dimensions,
with the same time bounds as above. Simulations exhibit a severe difference of
the behavior of the Go-To-The-Center and the Go-To-The-Gabriel-Center algorithms:
Whereas lots of collisions occur during a run of the Go-To-The-Center algorithm,
typically only one, namely the final collision occurs during a run of the Go-To-The-Gabriel-Center
algorithm. We can prove this “collisionless property” of the Go-To-The-Gabriel-Center
algorithm for one dimension. In two-dimensional Euclidean space, we conjecture
that the “collisionless property” holds for almost every initial configuration.
We support our conjecture with measurements obtained from the simulation where
robots execute both continuous Go-To-The-Center and Go-To-The-Gabriel-Center algorithms.\r\n@eng"
bibo_authorlist:
- foaf_Person:
foaf_givenName: Shouwei
foaf_name: Li, Shouwei
foaf_surname: Li
- foaf_Person:
foaf_givenName: Friedhelm
foaf_name: Meyer auf der Heide, Friedhelm
foaf_surname: Meyer auf der Heide
foaf_workInfoHomepage: http://www.librecat.org/personId=15523
- foaf_Person:
foaf_givenName: Pavel
foaf_name: Podlipyan, Pavel
foaf_surname: Podlipyan
bibo_doi: 10.1016/j.tcs.2020.11.009
bibo_volume: 852
dct_date: 2021^xs_gYear
dct_isPartOf:
- http://id.crossref.org/issn/0304-3975
dct_language: eng
dct_subject:
- Local algorithms
- Distributed algorithms
- Collisionless gathering
- Mobile robots
- Multiagent system
dct_title: The impact of the Gabriel subgraph of the visibility graph on the gathering
of mobile autonomous robots@
...