Complete visibility for oblivious robots in O(N) Time

Document Type

Conference Proceeding

Publication Date

1-1-2019

Abstract

We consider the distributed setting of N autonomous mobile robots that operate in Look-Compute-Move cycles following the classic oblivious robots model. We study the fundamental problem where starting from an arbitrary initial configuration, N autonomous robots reposition themselves to a convex hull formation on the plane where each robot is visible to all others (the Complete Visibility problem). We assume obstructed visibility, where a robot cannot see another robot if a third robot is positioned between them on the straight line connecting them. We provide the first O(N) time algorithm for this problem in the fully synchronous setting. Our contribution is a significant improvement over the runtime of the only previously known algorithm for this problem which has a lower bound of Ω(N 2 ) in the fully synchronous setting. The proposed algorithm is collision-free – robots do not share positions and their paths do not cross.

Publication Source (Journal or Book title)

Lecture Notes in Computer Science Including Subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics

First Page

67

Last Page

84

This document is currently not available here.

Share

COinS