Local spreading algorithms for autonomous robot systems

Abstract

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 defines measures for the quality of spreading, presents a local algorithm for the one-dimensional spreading problem, prove its convergence to the equally spaced configuration and discusses its convergence rate in the synchronous and semi-synchronous settings. It then presents a local algorithm achieving the exact equally spaced configuration in finite time in the synchronous setting, and proves it is time optimal for local algorithms. Finally, the paper also proposes a possible algorithm for the two-dimensional case and presents partial simulation results of its effectiveness.

DOI: 10.1016/j.tcs.2008.02.007

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@article{Cohen2008LocalSA, title={Local spreading algorithms for autonomous robot systems}, author={Reuven Cohen and David Peleg}, journal={Theor. Comput. Sci.}, year={2008}, volume={399}, pages={71-82} }