Logarithmic-Time Complete Visibility for Robots with Lights

Ramachandran Vaidyanathan, Costas Busch, Jerry L. Trahan, Gokarna Sharma, Suresh Rai

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

21 Scopus citations

Abstract

We consider the problem of repositioning N autonomous robots on a plane so that each robot is visible to all others (the Complete Visibility problem), a robot cannot see another robot if there Isa third robot positioned between them on the straight line joining them. Robots communicate using collared lights. The computation is synchronous and each robot performs a look-compute-move during a round. Specifically, during a round a robot is permitted to observe the light and position of every robot visible to it. It may also perform an internal computation based on the observed lights and positions(including deciding on a new-collar for its own light), and possibly moving to a new position at the end of the round. The challenge posed by this model of computation stems from the fact that each robot has only a constant number of colours for its lights(symbols for communication) and no memory(except for the persistence of lights) between rounds. In this paper we first show that the best previously known algorithm for the complete visibility problem on this model runs in linear time in the worst case. We then present the first logarithmic time complexity algorithm for Complete Visibility. The model we assume use sterility, is fully-synchronous and allows robot paths to cross.

Original languageEnglish (US)
Title of host publicationProceedings - 2015 IEEE 29th International Parallel and Distributed Processing Symposium, IPDPS 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages375-384
Number of pages10
ISBN (Electronic)9781479986484
DOIs
StatePublished - Jul 17 2015
Externally publishedYes
Event29th IEEE International Parallel and Distributed Processing Symposium, IPDPS 2015 - Hyderabad, India
Duration: May 25 2015May 29 2015

Publication series

NameProceedings - 2015 IEEE 29th International Parallel and Distributed Processing Symposium, IPDPS 2015

Conference

Conference29th IEEE International Parallel and Distributed Processing Symposium, IPDPS 2015
CountryIndia
CityHyderabad
Period5/25/155/29/15

Keywords

  • Convex hull
  • Distributed algorithms
  • Mobile robots
  • Robots with lights
  • Visibility

ASJC Scopus subject areas

  • Computer Networks and Communications

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