Complete visibility for oblivious robots in O(N) Time

Gokarna Sharma; Costas Busch; Supratik Mukhopadhyay

doi:10.1007/978-3-030-05529-5_5

Complete visibility for oblivious robots in O(N) Time

Gokarna Sharma, Costas Busch, Supratik Mukhopadhyay

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Scopus citations

Abstract

We consider the distributed setting of N autonomous mobile robots that operate in Look-Compute-Move cycles following the 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(N ² ) in the fully synchronous setting. The proposed algorithm is collision-free – robots do not share positions and their paths do not cross.

Original language	English (US)
Title of host publication	Networked Systems - 6th International Conference, NETYS 2018, Revised Selected Papers
Editors	Andreas Podelski, François Taïani
Publisher	Springer Verlag
Pages	67-84
Number of pages	18
ISBN (Print)	9783030055288
DOIs	https://doi.org/10.1007/978-3-030-05529-5_5
State	Published - 2019
Externally published	Yes
Event	6th International Conference on Networked Systems, NETYS 2018 - Essaouira, Morocco Duration: May 9 2018 → May 11 2018

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	11028 LNCS
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Other

Other	6th International Conference on Networked Systems, NETYS 2018
Country/Territory	Morocco
City	Essaouira
Period	5/9/18 → 5/11/18

ASJC Scopus subject areas

Theoretical Computer Science
Computer Science(all)

Access to Document

10.1007/978-3-030-05529-5_5

Cite this

Sharma, G., Busch, C., & Mukhopadhyay, S. (2019). Complete visibility for oblivious robots in O(N) Time. In A. Podelski, & F. Taïani (Eds.), Networked Systems - 6th International Conference, NETYS 2018, Revised Selected Papers (pp. 67-84). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11028 LNCS). Springer Verlag. https://doi.org/10.1007/978-3-030-05529-5_5

Complete visibility for oblivious robots in O(N) Time. / Sharma, Gokarna; Busch, Costas; Mukhopadhyay, Supratik.

Networked Systems - 6th International Conference, NETYS 2018, Revised Selected Papers. ed. / Andreas Podelski; François Taïani. Springer Verlag, 2019. p. 67-84 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11028 LNCS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Sharma, G, Busch, C & Mukhopadhyay, S 2019, Complete visibility for oblivious robots in O(N) Time. in A Podelski & F Taïani (eds), Networked Systems - 6th International Conference, NETYS 2018, Revised Selected Papers. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 11028 LNCS, Springer Verlag, pp. 67-84, 6th International Conference on Networked Systems, NETYS 2018, Essaouira, Morocco, 5/9/18. https://doi.org/10.1007/978-3-030-05529-5_5

Sharma G, Busch C, Mukhopadhyay S. Complete visibility for oblivious robots in O(N) Time. In Podelski A, Taïani F, editors, Networked Systems - 6th International Conference, NETYS 2018, Revised Selected Papers. Springer Verlag. 2019. p. 67-84. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-030-05529-5_5

Sharma, Gokarna ; Busch, Costas ; Mukhopadhyay, Supratik. / Complete visibility for oblivious robots in O(N) Time. Networked Systems - 6th International Conference, NETYS 2018, Revised Selected Papers. editor / Andreas Podelski ; François Taïani. Springer Verlag, 2019. pp. 67-84 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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Complete visibility for oblivious robots in O(N) Time

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