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Formation of General Position by Asynchronous Mobile Robots Under One-Axis Agreement

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WALCOM: Algorithms and Computation (WALCOM 2016)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 9627))

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Abstract

In the traditional model of autonomous, homogeneous mobile robots, the robots theoretically assumed to be transparent, i.e., they do not create any visual obstructions for the other robots. This paper strengthens this model, by incorporating the notion of obstructed visibility where the robots are considered to be opaque. Many of the existing algorithms require that each robot should have the complete knowledge of the positions of other robots. For this to happen in the new model no three robots can be collinear. This paper proposes a distributed algorithm for obtaining a general position (where no three robots are collinear) for the robots in finite time starting from an arbitrary configuration. The algorithm also assures collision free motion for each robot. The robots here are asynchronous, having no agreement in chirality. However, the robots agree on the direction of any one axis.

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Authors and Affiliations

  1. Indian Statistical Institute, Kolkata, India

    Subhash Bhagat & Krishnendu Mukhopadhyaya

  2. Jadavpur University, Kolkata, India

    Sruti Gan Chaudhuri

Authors
  1. Subhash Bhagat
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  2. Sruti Gan Chaudhuri
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  3. Krishnendu Mukhopadhyaya
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Corresponding author

Correspondence to Subhash Bhagat .

Editor information

Editors and Affiliations

  1. Dept. of Computer Science and Engin., Bangladesh Univ. of Engin. & Technol., Dhaka, Bangladesh

    Mohammad Kaykobad

  2. Dept. of Computer Science, Sapienza University of Rome, Rome, Italy

    Rossella Petreschi

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Bhagat, S., Chaudhuri, S.G., Mukhopadhyaya, K. (2016). Formation of General Position by Asynchronous Mobile Robots Under One-Axis Agreement. In: Kaykobad, M., Petreschi, R. (eds) WALCOM: Algorithms and Computation. WALCOM 2016. Lecture Notes in Computer Science(), vol 9627. Springer, Cham. https://doi.org/10.1007/978-3-319-30139-6_7

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  • DOI: https://doi.org/10.1007/978-3-319-30139-6_7

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-30138-9

  • Online ISBN: 978-3-319-30139-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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