The complete visibility problem for fat robots with lights

Gokarna Sharma, Rusul Alsaedi, Costas Busch, Supratik Mukhopadhyay

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

3 Scopus citations

Abstract

We consider the distributed se.ing of N autonomous mobile robots that operate in Look-Compute-Move 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 so that each robot is visible to all others (the Com-plete Visibility problem) on this model. We consider obstructed visibility under which a robot cannot see another robot if a third robot is positioned between then on the straight line connecting them. The literature solves this problem on the robots with lights model for point robots. In this paper, we study this problem, for the very first time, on the robots with lights model for fat robots, iThe., the robots which have physical extents. In particular, we present and analyze an algorithm for the fat robots of unit disc size extents that solves Complete Visibility in ON° time using 9 colors in the fully synchronous se.ing avoiding robot collisions.

Original languageEnglish (US)
Title of host publicationProceedings of the 19th International Conference on Distributed Computing and Networking, ICDCN 2018
PublisherAssociation for Computing Machinery
ISBN (Electronic)9781450363723
DOIs
StatePublished - Jan 4 2018
Externally publishedYes
Event19th International Conference on Distributed Computing and Networking, ICDCN 2018 - Varanasi, India
Duration: Jan 4 2018Jan 7 2018

Publication series

NameACM International Conference Proceeding Series

Conference

Conference19th International Conference on Distributed Computing and Networking, ICDCN 2018
CountryIndia
CityVaranasi
Period1/4/181/7/18

Keywords

  • Collisions
  • Complete visibility
  • Distributed robotics
  • Fat robots
  • Mutual visibility
  • Obstructed visibility
  • Robots with lights
  • Runtime

ASJC Scopus subject areas

  • Software
  • Human-Computer Interaction
  • Computer Vision and Pattern Recognition
  • Computer Networks and Communications

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