Convergence properties of the gravitational algorithm in asynchronous robot systems

被引：122

作者：

Cohen, R ^{[1
]}

Peleg, D ^{[1
]}

机构：

[1] Weizmann Inst Sci, Dept Appl Math & Comp Sci, IL-76100 Rehovot, Israel

来源：

SIAM JOURNAL ON COMPUTING | 2005年 / 34卷 / 06期

关键词：

robot swarms; autonomous mobile robots; convergence;

D O I：

10.1137/S0097539704446475

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

This paper considers the convergence problem in autonomous mobile robot systems. A natural algorithm for the problem requires the robots to move towards their center of gravity. This paper proves the correctness of the gravitational algorithm in the fully asynchronous model. It also analyzes its convergence rate and establishes its convergence in the presence of crash faults.

引用

页码：1516 / 1528

页数：13

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