Abstract
We consider the plane formation problem that requires a set of autonomous mobile robots initially placed in the three-dimensional space to land on a common plane that is not defined a priori. The problem was first introduced for fully-synchronous (FSYNC) robots with rigid movement (i.e., the robots always reach the next position) and solvable instances are characterized in terms of the symmetry among the robots, i.e., the rotation group of the initial configuration of robots (Yamauchi et al. DISC 2015). We consider the plane formation problem for semi-synchronous (SSYNC) robots with non-rigid movement. We present a plane formation algorithm for oblivious SSYNC robots, and show that the SSYNC robots with non-rigid movement have the same plane formation power as the FSYNC robots with rigid movement.
This work was supported by JSPS KAKENHI Grant Numbers JP15H00821, JP15K15938, JP25700002, JP15K11987, JP15H02666, and a Grant-in-Aid for Scientific Research on Innovative Areas “Molecular Robotics” (No. 24104003) of MEXT, Japan.
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We note that the effect of this non-rigid movement is rather moderate because the robots can get out of this loop when their moving distance becomes smaller than the minimum moving distance.
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Uehara, T., Yamauchi, Y., Kijima, S., Yamashita, M. (2016). Plane Formation by Semi-synchronous Robots in the Three Dimensional Euclidean Space. In: Bonakdarpour, B., Petit, F. (eds) Stabilization, Safety, and Security of Distributed Systems. SSS 2016. Lecture Notes in Computer Science(), vol 10083. Springer, Cham. https://doi.org/10.1007/978-3-319-49259-9_30
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DOI: https://doi.org/10.1007/978-3-319-49259-9_30
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