Time optimal gathering of myopic robots on an infinite triangular grid

DOI10.1007/978-3-031-21017-4_18MaRDI QIDQ6155253zbMATH OpenOpenAlexFDO

Authors Pritam Goswami, Avisek Sharma, Satakshi Ghosh, Buddhadeb Sau

Publication date 12 June 2023

Published in Lecture Notes in Computer Science (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2204.14042

zbMATH Keywords

gatheringtriangular gridlimited visibilityswarm robot

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) Distributed algorithms (68W15) Distributed systems (68M14)

Abstract: This work deals with the problem of gathering $n$ oblivious mobile entities, called robots, at a point (not known beforehand) placed on an infinite triangular grid. The robots are considered to be myopic, i.e., robots have limited visibility. Earlier works of gathering mostly considered the robots either on a plane or on a circle or on a rectangular grid under both full and limited visibility. In the triangular grid, there are two works to the best of our knowledge. The first one is by Cicerone et al. on arbitrary pattern formation where full visibility is considered. The other one by Shibata et al. which considers seven robots with 2- hop visibility that form a hexagon with one robot in the center of the hexagon in a collision-less environment under a fully synchronous scheduler . In this work, we first show that gathering on a triangular grid with 1-hop vision of robots is not possible even under a fully synchronous scheduler if the robots do not agree on any axis. So one axis agreement has been considered in this work (i.e., the robots agree on a direction and its orientation). We have also shown that the lower bound for time is $Omega(n)$ epochs when $n$ number of robots are gathering on an infinite triangular grid. An algorithm is then presented where a swarm of $n$ number of robots with 1-hop visibility can gather within $O(n)$ epochs under a semi-synchronous scheduler. So the algorithm presented here is time optimal.

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Cites work

• scientific article; zbMATH DE number 3968590 (Why is no real title available?)
• Arbitrary pattern formation on infinite regular tessellation graphs
• Fault-Tolerant Gathering Algorithms for Autonomous Mobile Robots
• Fault-tolerant gathering of asynchronous oblivious mobile robots under one-axis agreement
• Gathering asynchronous oblivious mobile robots in a ring
• Gathering of asynchronous robots with limited visibility
• Gathering of robots on anonymous grids and trees without multiplicity detection
• Gathering of robots on meeting-points: feasibility and optimal resolution algorithms
• Gathering six oblivious robots on anonymous symmetric rings
• Gathering synchronous robots in graphs: from general properties to dense and symmetric topologies
• Taking advantage of symmetries: Gathering of many asynchronous oblivious robots on a ring

Cited in

(4)

• Universally optimal gathering under limited visibility
• Gathering a Euclidean closed chain of robots in linear time
• Gathering Anonymous, Oblivious Robots on a Grid
• Time optimal gathering of myopic robots on an infinite triangular grid

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