Abstract
We consider the problem of uniformly dispersing mobile robots in an unknown, connected, and closed space, so as to cover it completely. The robots are autonomous and identical, they enter the space from a single point, and move in coordination with other robots, relying only on sensed local information within a restricted radius. The existing solutions for the problem require either the robots to be synchronous or the space to be without holes and obstacles. In this paper we allow the robots to be fully asynchronous and the space to contain holes. We show how, even in this case, the robots can uniformly fill the unknown space, avoiding any collisions, when endowed with only \(O(1)\) bits of persistent memory and \(O(1)\) visibility radius. Our protocols are asymptotically optimal in terms of visibility and memory requirements, and these results can be achieved without any direct means of communication among the robots.
Research partially supported by NSERC Canada.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Notes
- 1.
A visibility radius of one means that the robot sees all eight neighboring cells.
- 2.
A communication range of one means that the robot can communicate directly to the robots located in the eight neighboring cells.
- 3.
Except during the process of transferring the leadership as explained later.
- 4.
the blocking robot only takes into account the direction that were still open at the moment it enters in the Blocking state.
References
Barriere, L., Flocchini, P., Mesa Barrameda, E., Santoro, N.: Uniform scattering of autonomous mobile robots in a grid. Int. J. Found. Comput. Sci. 22(3), 679–697 (2011)
Cheng, T.M., Savkin, A.V.: A distributed self-deployment algorithm for the coverage of mobile wireless sensor networks. IEEE Commun. Lett. 13(11), 877–879 (2009)
Cohen, R., Peleg, D.: Local algorithms for autonomous robot systems. In: Flocchini, P., Gąsieniec, L. (eds.) SIROCCO 2006. LNCS, vol. 4056, pp. 29–43. Springer, Heidelberg (2006)
Flocchini, P., Prencipe, G., Santoro, N.: Self-deployment of mobile sensors on a ring. Theor. Comput. Sci. 402(1), 67–80 (2008)
Flocchini, P., Prencipe, G., Santoro, N.: Computing by mobile robotic sensors. In: Nikoletseas, S., Rolim, J. (eds.) Theoretical Aspects of Distributed Computing in Sensor Networks. Springer, Berlin (2011)
Ganguli, A., Cortes, J., Bullo, F.: Visibility-based multi-agent deployment in orthogonal environments. In: Proceedings American Control Conference, pp. 3426–3431 (2007)
Heo, N., Varshney, P.K.: A distributed self spreading algorithm for mobile wireless sensor networks. In: Proceedings IEEE Wireless Communication and Networking Conference, vol. 3, pp. 1597–1602 (2003)
Heo, N., Varshney, P.K.: Energy-efficient deployment of intelligent mobile sensor networks. IEEE Trans. Syst. Man Cybern. Part A 35(1), 78–92 (2005)
Howard, A., Mataric, M.J., Sukahatme, G.S.: An incremental self-deployment algorithm for mobile sensor networks. IEEE Trans. Robot. Autom. 13(2), 113–126 (2002)
Howard, A., Mataric, M.J., Sukhatme, G.S.: Mobile sensor network deployment using potential fields: a distributed, scalable solution to the area coverage problem. In: Proceedings 6th International Symposium on Distributed Autonomous Robotics Systems (DARS), pp. 299–308 (2002)
Hsiang, T.R., Arkin, E., Bender, M.A., Fekete, S., Mitchell, J.: Algorithms for rapidly dispersing robot swarms in unknown environment. In: Proceedings of the 5th Workshop on Algorithmic Foundations of Robotics (WAFR), pp. 77–94 (2002)
Li, X., Frey, H., Santoro, N., Stojmenovic, I.: Strictly localized sensor self-deployment for optimal focused coverage. IEEE Trans. Mob. Comput. 10(11), 1520–1533 (2011)
Loo, L., Lin, E., Kam, M., Varshney, P.: Cooperative multi-agent constellation formation under sensing and communication constraints. In: Cooperative Control and Optimization, pp. 143–170. Kluwer Academic, Dordrecht (2002)
Martinson, E., Payton, D.: Lattice formation in mobile autonomous sensor arrays. In: Proceedings of International Workshop on Swarm Robotics (SAB’04), pp. 98–111 (2004)
Mesa Barrameda, E., Das, S., Santoro, N.: Deployment of asynchronous robotic sensors in unknown orthogonal environments. In: Fekete, S. (ed.) ALGOSENSORS 2008. LNCS, vol. 5389, pp. 125–140. Springer, Heidelberg (2008)
Poduri, S., Sukhatme, G.S.: Constrained coverage for mobile sensor networks. In: Proceedings of the IEEE International Conference on Robotic and Automation, pp. 165–173 (2004)
Wang, G., Cao, G., La Porta, T.: Movement-assisted sensor deployment. In: Proceedings of the IEEE INFOCOM, vol. 4, pp. 2469–2479 (2004)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Barrameda, E.M., Das, S., Santoro, N. (2014). Uniform Dispersal of Asynchronous Finite-State Mobile Robots in Presence of Holes. In: Flocchini, P., Gao, J., Kranakis, E., Meyer auf der Heide, F. (eds) Algorithms for Sensor Systems. ALGOSENSORS 2013. Lecture Notes in Computer Science(), vol 8243. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-45346-5_17
Download citation
DOI: https://doi.org/10.1007/978-3-642-45346-5_17
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-45345-8
Online ISBN: 978-3-642-45346-5
eBook Packages: Computer ScienceComputer Science (R0)