Power of Finite Memory and Finite Communication Robots under Asynchronous Scheduler
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In swarm robotics, a set of robots has to perform a given task with specified internal capabilities (model) and under a given adversarial scheduler. Relation between a model M_1 under scheduler S_1, and that of a model M_2 under scheduler S_2 can be of four different types: not less powerful, more powerful, equivalent and orthogonal. In literature there are four main models of robots with lights: ℒ𝒰ℳℐ, where robots have the power of observing the lights of all the robots, ℱ𝒮𝒯𝒜 , where each robot can see only its own light, ℱ𝒞𝒪ℳ, where each robot can observe the light of all other robots except its own and 𝒪ℬℒ𝒪𝒯, where the robots do not have any light. In this paper, we investigate the computational power of ℱ𝒮𝒯𝒜 and ℱ𝒞𝒪ℳ model under asynchronous scheduler by comparing it with other model and scheduler combinations. Our main focus is to understand and compare the power of persistent memory and explicit communication in robots under asynchronous scheduler.
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