Paper Info
Title
Asynchronous exclusive perpetual grid exploration without sense of direction
Abstract
In this paper, we investigate the exclusive perpetual exploration of grid shaped networks using anonymous, oblivious and fully asynchronous robots. Our results hold for robots without sense of direction (i.e. they do not agree on a common North, nor do they agree on a common left and right ; furthermore, the "North" and "left" of each robot is decided by an adversary that schedules robots for execution, and may change between invocations of particular robots). We focus on the minimal number of robots that are necessary and sufficient to solve the problem in general grids. In more details, we prove that three deterministic robots are necessary and sufficient, provided that the size of the grid is n ×m with 3≤n≤m or n=2 and m≥4. Perhaps surprisingly, and unlike results for the exploration with stop problem (where grids are "easier" to explore and stop than rings with respect to the number of robots), exclusive perpetual exploration requires as many robots in the ring as in the grid. Furthermore, we propose a classification of configurations such that the space of configurations to be checked is drastically reduced. This pre-processing lays the bases for the automated verification of our algorithm for general grids as it permits to avoid combinatorial explosion.
Year
DOI
Venue
2011
10.1007/978-3-642-25873-2_18
OPODIS
Field
DocType
Volume
Asynchronous communication,Computer science,Schedule,Left and right,Robot,Combinatorial explosion,Lattice graph,Mobile robot,Grid,Distributed computing
Conference
7109
ISSN
Citations 
PageRank 
0302-9743
7
0.57
References 
Authors
15
4
Name
Order
Citations
PageRank
François Bonnet1243.37
Alessia Milani218715.54
Maria Potop-Butucaru311616.55
Sébastien Tixeuil497893.01