Abstract
Systems of autonomous mobile robots have been attracted as distributed systems. Minimal setting for robots to solve some class of problems has been studied with theoretical concerns. This paper contributes discussion on relationship between inaccuracy of compasses which give axes of coordinate systems of robots and the possibility of gathering robots. The gathering problem is to make all robots meet at a single point which is not predefined. The problem has been shown to be solvable for two robots with dynamically variable compasses within the difference of π/4 between two robots. This paper improves the limit of difference to π/3. This is shown with the fully asynchronous robot model CORDA. Configurations and executions of robot systems for CORDA with dynamic compasses are formalised. In order to deal with behaviors of robots a concept of relative configurations is also introduced.
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Inuzuka, N., Tomida, Y., Izumi, T., Katayama, Y., Wada, K. (2008). Gathering Problem of Two Asynchronous Mobile Robots with Semi-dynamic Compasses. In: Shvartsman, A.A., Felber, P. (eds) Structural Information and Communication Complexity. SIROCCO 2008. Lecture Notes in Computer Science, vol 5058. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-69355-0_3
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DOI: https://doi.org/10.1007/978-3-540-69355-0_3
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