Abstract
Consider a group of N robots aiming to converge towards a single point. The robots cannot communicate, and their only input is obtained by visual sensors. A natural algorithm for the problem is based on requiring each robot to move towards the robots’ center of gravity. The paper proves the correctness of the center-of-gravity algorithm in the semi-synchronous model for any number of robots, and its correctness in the fully asynchronous model for two robots.
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Cohen, R., Peleg, D. (2004). Robot Convergence via Center-of-Gravity Algorithms. In: Královic̆, R., Sýkora, O. (eds) Structural Information and Communication Complexity. SIROCCO 2004. Lecture Notes in Computer Science, vol 3104. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-27796-5_8
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DOI: https://doi.org/10.1007/978-3-540-27796-5_8
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