Gathering Multiple Robotic A(ge)nts with Limited Sensing Capabilities
This paper studies local algorithms for autonomous robot systems, namely, algorithms that use only information of the positions of a bounded number of their nearest neighbors. The paper focuses on the spreading problem. It deenes measures for the quality of spreading, presents a local algorithm for the one-dimensional spreading problem, prove its convergence to the equally spaced connguration and discusses its convergence rate in the synchronous and semi-synchronous settings. It then presents a local algorithm achieving the exact equally spaced connguration in nite time in the synchronous setting, and proves it is time optimal for local algorithms. Finally, the paper also proposes an algorithm for the two-dimensional case and presents simulation results of its eeectiveness.