Paper Info
Title
Gathering autonomous mobile robots with dynamic compasses: an optimal result
Abstract
Let consider n autonomous mobile robots that can move in a two dimensional plane. The gathering problem is one of the most fundamental tasks of autonomous mobile robots. In short, given a set of robots with arbitrary initial locations, gathering must make all robots meet in finite time at a point that is not predefined. In this paper, we study about the feasibility of gathering by mobile robots that have ϕ-absolute error dynamic compasses. While the direction of each local coordinate system is fixed in usual systems, the dynamic compass model allows the angle difference between a local coordinate system and the global coordinate system to vary with time in the range of [0, ϕ]. This paper proposes a semi-synchronous gathering algorithm for n robots with (π/2-ε)-absolute error dynamic compasses, where ε is an arbitrary small constant larger than zero. To the best of our knowledge, the proposed algorithm is the first one that considers both inaccurate compass models and more than two robots. We also show the optimality of our algorithm. It is proved that for any ϕ ≥ π/2, there is no algorithm to gather two robots with ϕ-absolute error dynamic compasses.
Year
DOI
Venue
2007
10.1007/978-3-540-75142-7_24
DISC
Keywords
Field
DocType
optimal result,dynamic compass model,mobile robot,absolute error,gathering problem,usual system,n autonomous mobile robot,autonomous mobile robot,semi-synchronous gathering algorithm,dynamic compass,proposed algorithm,coordinate system
Coordinate system,Compass,Computer science,Global coordinate system,Convex hull,Real-time computing,Robot,Mobile robot,Finite time,Distributed computing
Conference
Volume
ISSN
ISBN
4731
0302-9743
3-540-75141-6
Citations 
PageRank 
References 
28
1.27
11
Authors
4
Name
Order
Citations
PageRank
Taisuke Izumi128439.02
Yoshiaki Katayama222640.42
Nobuhiro Inuzuka318126.58
Koichi Wada431954.11