O(log N)-Time Complete Visibility for Asynchronous Robots with Lights

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

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

19 Scopus citations

Abstract

We consider the distributed setting of N autonomous mobile robots that operate in Look-Compute-Move (LCM) cycles and communicate with other robots using colored lights (the robots with lights model). We study the fundamental problem of repositioning N autonomous robots on a plane sothat each robot is visible to all others (the Complete Visibility problem) on this model; a robot cannot see another robot if a third robot is positioned between them on the straight line connecting them. There exists an O(1) time, O(1) color algorithm for this problem in the semi-synchronous setting. In this paper, we provide the first O(log N) time, O(1) color algorithm for this problem in the asynchronous setting. This is a significant improvement over an O(N)-time translation of the semi-synchronous algorithm to the asynchronous setting. The proposed algorithm is collision-free-robots do not share positions and their paths do not cross.

Original languageEnglish (US)
Title of host publicationProceedings - 2017 IEEE 31st International Parallel and Distributed Processing Symposium, IPDPS 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages513-522
Number of pages10
ISBN (Electronic)9781538639146
DOIs
StatePublished - Jun 30 2017
Externally publishedYes
Event31st IEEE International Parallel and Distributed Processing Symposium, IPDPS 2017 - Orlando, United States
Duration: May 29 2017Jun 2 2017

Publication series

NameProceedings - 2017 IEEE 31st International Parallel and Distributed Processing Symposium, IPDPS 2017

Conference

Conference31st IEEE International Parallel and Distributed Processing Symposium, IPDPS 2017
CountryUnited States
CityOrlando
Period5/29/176/2/17

Keywords

  • collisions
  • convex hull
  • Distributed algorithms
  • mobile robots
  • obstruction
  • robots with lights
  • visibility

ASJC Scopus subject areas

  • Information Systems
  • Computer Networks and Communications
  • Hardware and Architecture

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  • Cite this

    Sharma, G., Vaidyanathan, R., Trahan, J. L., Busch, C., & Rai, S. (2017). O(log N)-Time Complete Visibility for Asynchronous Robots with Lights. In Proceedings - 2017 IEEE 31st International Parallel and Distributed Processing Symposium, IPDPS 2017 (pp. 513-522). [7967142] (Proceedings - 2017 IEEE 31st International Parallel and Distributed Processing Symposium, IPDPS 2017). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IPDPS.2017.51