Ring Exploration with Myopic Luminous Robots

05/10/2018
by   Fukuhito Ooshita, et al.
0

We investigate exploration algorithms for autonomous mobile robots evolving in uniform ring-shaped networks. Different from the usual Look-Compute-Move (LCM) model, we consider two characteristics: myopia and luminosity. Myopia means each robot has a limited visibility. We consider the weakest assumption for myopia: each robot can only observe its neighboring nodes. Luminosity means each robot maintains a non-volatile visible light. We consider the weakest assumption for luminosity: each robot can use only two colors for its light. The main interest of this paper is to clarify the impact of luminosity on exploration with myopic robots. As a main contribution, we prove that 1) in the fully synchronous model, two and three robots are necessary and sufficient to achieve perpetual and terminating exploration, respectively, and 2) in the semi-synchronous and asynchronous models, three and four robots are necessary and sufficient to achieve perpetual and terminating exploration, respectively. These results clarify the power of lights for myopic robots since, without lights, five robots are necessary and sufficient to achieve terminating exploration in the fully synchronous model, and no terminating exploration algorithm exists in the semi-synchronous and asynchronous models. We also show that, in the fully synchronous model (resp., the semi-synchronous and asynchronous models), the proposed perpetual exploration algorithm is universal, that is, the algorithm solves perpetual exploration from any solvable initial configuration with two (resp., three) robots and two colors. On the other hand, we show that, in the fully synchronous model (resp., the semi-synchronous and asynchronous models), no universal algorithm exists for terminating exploration, that is, no algorithm may solve terminating exploration from any solvable initial configuration with three (resp., four) robots and two colors.

READ FULL TEXT

page 1

page 2

page 3

page 4

research
02/11/2021

Terminating grid exploration with myopic luminous robots

We investigate the terminating grid exploration for autonomous myopic lu...
research
11/12/2019

Gathering on Rings for Myopic Asynchronous Robots with Lights

We investigate gathering algorithms for asynchronous autonomous mobile r...
research
01/13/2020

Live Exploration with Mobile Robots in a Dynamic Ring, Revisited

The graph exploration problem requires a group of mobile robots, initial...
research
09/28/2018

On the Hardness of the Strongly Dependent Decision Problem

We present necessary and sufficient conditions for solving the strongly ...
research
06/05/2020

Synchronization by Asynchronous Mobile Robots with Limited Visibility

A mobile robot system consists of anonymous mobile robots, each of which...
research
01/14/2021

Asynchronous Gathering in a Torus

We consider the gathering problem for asynchronous and oblivious robots ...
research
05/21/2018

Multi-robot Symmetric Rendezvous Search on the Line with an Unknown Initial Distance

In this paper, we study the symmetric rendezvous search problem on the l...

Please sign up or login with your details

Forgot password? Click here to reset