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Brief Announcement: Gathering Despite Defected View

Authors Yonghwan Kim , Masahiro Shibata , Yuichi Sudo , Junya Nakamura , Yoshiaki Katayama , Toshimitsu Masuzawa

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ACM Subject Classification
  • Computing methodologies → Self-organization
Keywords
  • mobile robot
  • gathering
  • defected view model

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Abstract

In this paper, we provide a new perspective on the observation by robots; a robot cannot necessarily observe all other robots regardless of distances to them. We introduce a new computational model with defected views called a (N,k)-defected model where k robots among N-1 other robots can be observed. We propose two gathering algorithms: one in the adversarial (N,N-2)-defected model for N ≥ 5 (where N is the number of robots) and the other in the distance-based (4,2)-defected model. Moreover, we present two impossibility results for a (3,1)-defected model and a relaxed (N, N-2)-defected model respectively. This announcement is short; the full paper is available at [Yonghwan Kim and others, 2022].

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Yonghwan Kim, Masahiro Shibata, Yuichi Sudo, Junya Nakamura, Yoshiaki Katayama, and Toshimitsu Masuzawa. Brief Announcement: Gathering Despite Defected View. In 36th International Symposium on Distributed Computing (DISC 2022). Leibniz International Proceedings in Informatics (LIPIcs), Volume 246, pp. 46:1-46:3, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2022) https://doi.org/10.4230/LIPIcs.DISC.2022.46

Author Details

Yonghwan Kim
  • Nagoya Institute of Technology, Aichi, Japan
Masahiro Shibata
  • Kyushu Institute of Technology, Fukuoka, Japan
Yuichi Sudo
  • Hosei University, Tokyo, Japan
Junya Nakamura
  • Toyohashi University of Technology, Aichi, Japan
Yoshiaki Katayama
  • Nagoya Institute of Technology, Aichi, Japan
Toshimitsu Masuzawa
  • Osaka University, Japan

Funding

This work was supported in part by JSPS KAKENHI Grant Numbers 18K18031, 19H04085, 19K11823, 20H04140, 20KK0232, 21K17706, and Foundation of Public Interest of Tatematsu.

References

  1. Yonghwan Kim et al. Gathering despite defected view, 2022. URL: https://doi.org/10.48550/ARXIV.2208.08159.
  2. Ichiro Suzuki and Masafumi Yamashita. Distributed Anonymous Mobile Robots: Formation of Geometric Patterns. SIAM J. Comput., 28(4):1347-1363, 1999. Google Scholar
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