Brief announcement: Complete visibility for oblivious robots in linear time

Gokarna Sharma, Costas Busch, Supratik Mukhopadhyay

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Scopus citations

Abstract

We consider the distributed setting of N autonomous mobile robots that operate in Look-Compute-Move cycles following the well celebrated classic oblivious robots model. We study the fundamental problem where starting from an arbitrary initial configuration, N autonomous robots reposition themselves to a convex hull formation on the plane where each robot is visible to all others (the Complete Visibility problem). We assume obstructed visibility, where a robot cannot see another robot if a third robot is positioned between them on the straight line connecting them. We provide the first O(N) time algorithm for this problem in the fully synchronous setting. Our contribution is a significant improvement over the runtime of the only previously known algorithm for this problem which has a lower bound of Ω(N2). Our proposed algorithm is collision-free - robots do not share positions and their paths do not cross.

Original languageEnglish (US)
Title of host publicationSPAA 2017 - Proceedings of the 29th ACM Symposium on Parallelism in Algorithms and Architectures
PublisherAssociation for Computing Machinery
Pages325-327
Number of pages3
ISBN (Electronic)9781450345934
DOIs
StatePublished - Jul 24 2017
Externally publishedYes
Event29th ACM Symposium on Parallelism in Algorithms and Architectures, SPAA 2017 - Washington, United States
Duration: Jul 24 2017Jul 26 2017

Publication series

NameAnnual ACM Symposium on Parallelism in Algorithms and Architectures
VolumePart F129316

Conference

Conference29th ACM Symposium on Parallelism in Algorithms and Architectures, SPAA 2017
CountryUnited States
CityWashington
Period7/24/177/26/17

Keywords

  • Autonomous mobile robots
  • Collisions
  • Complete visibility
  • Convex hull
  • Oblivious Robots
  • Obstruction
  • Runtime

ASJC Scopus subject areas

  • Hardware and Architecture
  • Software
  • Theoretical Computer Science

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