TY - GEN

T1 - Complete visibility for oblivious robots in O(N) Time

AU - Sharma, Gokarna

AU - Busch, Costas

AU - Mukhopadhyay, Supratik

N1 - Publisher Copyright:
© Springer Nature Switzerland AG 2019.

PY - 2019

Y1 - 2019

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=85059962427&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85059962427&partnerID=8YFLogxK

U2 - 10.1007/978-3-030-05529-5_5

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

M3 - Conference contribution

AN - SCOPUS:85059962427

SN - 9783030055288

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 67

EP - 84

BT - Networked Systems - 6th International Conference, NETYS 2018, Revised Selected Papers

A2 - Podelski, Andreas

A2 - Taïani, François

PB - Springer Verlag

T2 - 6th International Conference on Networked Systems, NETYS 2018

Y2 - 9 May 2018 through 11 May 2018

ER -