An Asymmetric Distributed Method for Sorting a Robot Swarm

@article{Zhou2017AnAD,
  title={An Asymmetric Distributed Method for Sorting a Robot Swarm},
  author={Yu Xiang Zhou and Ron Goldman and James McLurkin},
  journal={IEEE Robotics and Automation Letters},
  year={2017},
  volume={2},
  pages={261-268}
}
We consider the problem of sorting a swarm of labeled robots in Euclidean space. Our goal is to organize the robots into a sorted and equally-spaced straight line between the robots with lowest and highest labels, while maintaining a connected communication network. We break the symmetry between the minimum and maximum, in order to keep time, travel distance, and communication costs low, without using central control. We run in parallel a set of functions, including leader election, tree… 
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