Local spreading algorithms for autonomous robot systems

被引：59

作者：

Cohen, Reuven ^{[2
]}

Peleg, David ^{[1
]}

机构：

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

[2] Bar Ilan Univ, Dept Math, IL-52900 Ramat Gan, Israel

来源：

THEORETICAL COMPUTER SCIENCE | 2008年 / 399卷 / 1-2期

基金：

以色列科学基金会;

关键词：

mobile autonomous robots; robot swarms; spreading;

D O I：

10.1016/j.tcs.2008.02.007

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

This paper studies local algorithms for autonomous robot systems, namely, algorithms that use only information of the positions of a bounded number of their nearest neighbors. The paper focuses on the spreading problem. It defines measures for the quality of spreading, presents a local algorithm for the one-dimensional spreading problem, proves its convergence to the equally spaced configuration and discusses its convergence rate in the synchronous and semi-synchronous settings. It then presents a local algorithm achieving the exact equally spaced configuration in finite time in the synchronous setting, and proves it is time optimal for local algorithms. Finally, the paper also proposes a possible algorithm for the two-dimensional case and presents partial simulation results of its effectiveness. (C) 2008 Elsevier B.V. All rights reserved.

引用

页码：71 / 82

页数：12

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