Connectivity-Preserving Scattering of Mobile Robots with Limited Visibility - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2010

Connectivity-Preserving Scattering of Mobile Robots with Limited Visibility

Résumé

The scattering problem is a fundamental task for mobile robots, which requires that no two robots share the same position. We investigate the scattering problem in the limited-visibility model. In particular, we focus on connectivity-preservation property. That is, the scattering must be achieved so that the disconnection of the visibility graph never occurs (in the visibility graph robots are the nodes of the graph and the edges are their visibility relationship). The algorithm we propose assumes ATOM (i.e. semi-synchronous) model. In these settings our algorithm guarantees the connectivity-preserving property, and reaches a scattered configuration within $O( min \{n, D^2 + \log{n}\})$ asynchronous rounds in expectation, where $D$ is the diameter of the initial visibility graph. Note that the complexity analysis is adaptive since it depends on $D$. This implies that our algorithm quickly scatters all robots crowded in a small-diameter visibility graph. We also provide a lower bound of $\Omega(n)$ for connectivity-preserving scattering. It follows that our algorithm is optimal in the sense of the non-adaptive analysis.

Dates et versions

hal-01293837 , version 1 (25-03-2016)

Identifiants

Citer

Taisuke Izumi, Maria Gradinariu Potop-Butucaru, Sébastien Tixeuil. Connectivity-Preserving Scattering of Mobile Robots with Limited Visibility. SSS, Sep 2010, New York, NY, United States. pp.319-331, ⟨10.1007/978-3-642-16023-3_27⟩. ⟨hal-01293837⟩
195 Consultations
0 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More