Gathering fat mobile robots with slim omnidirectional cameras - Archive ouverte HAL Access content directly
Journal Articles Theoretical Computer Science Year : 2014

Gathering fat mobile robots with slim omnidirectional cameras

Anthony Honorat
  • Function : Author
  • PersonId : 966425
Maria Potop-Butucaru
Sébastien Tixeuil


Most distributed solutions for swarms of oblivious mobile robots consider that individual robots are represented by points that can overlap, which is physically impossible. A recent trend is to consider ``fat'' robots, i.e. robots that are represented by unit discs and cannot overlap, but still assume that robots can be seen if there exists a point in the unit disc that has a line of sight with the target robot. Again, this does not match practical sensing devices implementations. We propose a new model for sensing devices that originates from embedded omnidirectional cameras, sonars, or lasers found on real robots. This model opens new algorithmic issues since the visibility relation becomes asymmetric. As a case study, we consider the gathering problem for four volumic robots and provide an algorithm to solve the problem in the fully asynchronous setting in our extended model.

Dates and versions

hal-01151754 , version 1 (13-05-2015)



Anthony Honorat, Maria Potop-Butucaru, Sébastien Tixeuil. Gathering fat mobile robots with slim omnidirectional cameras. Theoretical Computer Science, 2014, 557, pp.1-27. ⟨10.1016/j.tcs.2014.08.004⟩. ⟨hal-01151754⟩
188 View
0 Download



Gmail Facebook X LinkedIn More