Gathering asychronous mobile robots with inaccurate compasses

Material type: 文書・図像類

Author: Souissi, Samiaほか

Publisher: 北陸先端科学技術大学院大学情報科学研究科

Publication date: 2006-09-11

Material Format: Digital

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Note (General)：: This paper considers a system of asynchronous autonomous mobile robots that can move freely in a twodimensional plane with no agreement on a common co...

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Material Type: 文書・図像類
Title: Gathering asychronous mobile robots with inaccurate compasses
Author/Editor: Souissi, Samia
Defago, Xavier
Yamashita, Masafumi
Author Heading: Souissi, Samia
Defago, Xavier
Yamashita, Masafumi
Publication, Distribution, etc.: 北陸先端科学技術大学院大学情報科学研究科
Publication Date: 2006-09-11
Publication Date (W3CDTF): 2006-09-11
Periodical title: Research report (School of Information Science, Japan Advanced Institute of Science and Technology)
No. or year of volume/issue: IS-RR-2006-014
Volume: IS-RR-2006-014
Pages: 1-20
ISSN (Periodical Title): ISSN : 0918-7553
Text Language Code: eng
Subject Heading: Mobile cooperative computing
distributed algorithms
autonomous robots
gathering
inaccurate compasses
oblivious computations
self-stabilization
Target Audience: 一般
Note (General): This paper considers a system of asynchronous autonomous mobile robots that can move freely in a twodimensional plane with no agreement on a common coordinate system. Starting from any initial configuration, the robots are required to eventually gather at a single point, not fixed in advance (gathering problem). Prior work has shown that gathering oblivious (i.e., stateless) robots cannot be achieved deterministically without additional assumptions. In particular, if robots can detect multiplicity (i.e., count robots that share the same location) gathering is possible for three or more robots. Similarly, gathering of any number of robots is possible if the robots share a common direction, as given by compasses, with no errors. Our work is motivated by the pragmatic standpoint that (1) compasses are error-prone devices in reality, and (2) multiplicity detection, while being easy to achieve, allow gathering for situations with more than two robots. Consequently, this paper focusses on gathering two asynchronous robots equipped with inaccurate compasses. In particular, we provide a self-stabilizing algorithm to gather, in a finite number of steps, two oblivious robots equipped with compasses that can differ by as much as π/ 4.
リサーチレポート（北陸先端科学技術大学院大学情報科学研究科）
identifier:https://dspace.jaist.ac.jp/dspace/handle/10119/4794
Access Restrictions: 限定公開
Data Provider (Database): 国立情報学研究所 : 学術機関リポジトリデータベース（IRDB）（機関リポジトリ）
https://irdb.nii.ac.jp
Original Data Provider (Database): 北陸先端科学技術大学院大学 : JAIST学術研究成果リポジトリ