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Communication Dans Un Congrès Année : 2010

Robocast: Asynchronous Communication in Robot Networks

Résumé

This paper introduces the RoboCast communication abstraction. The RoboCast allows a swarm of non oblivious, anonymous robots that are only endowed with visibility sensors and do not share a common coordinate system, to asynchronously exchange information. We propose a generic framework that covers a large class of asynchronous communication algorithms and show how our framework can be used to implement fundamental building blocks in robot networks such as gathering or stigmergy. In more details, we propose a RoboCast algorithm that allows robots to broadcast their local coordinate systems to each others. Our algorithm is further refined with a local collision avoidance scheme. Then, using the RoboCast primitive, we propose algorithms for deterministic asynchronous gathering and binary information exchange.

Dates et versions

hal-01290774 , version 1 (18-03-2016)

Identifiants

Citer

Zohir Bouzid, Shlomi Dolev, Maria Gradinariu Potop-Butucaru, Sébastien Tixeuil. Robocast: Asynchronous Communication in Robot Networks. OPODIS 2010, Dec 2010, Tozeur, Tunisia. pp.16-31, ⟨10.1007/978-3-642-17653-1_2⟩. ⟨hal-01290774⟩
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