| TR#: | CIS-2016-01 |
| Class: | CIS |
| Title: | Chase Your Farthest Neighbour: a simple gathering algorithm for anonymous, oblivious and non-communicating agents |
| Authors: | Rotem Manor and Alfred M. Bruckstein |
| Currently accessibly only within the Technion network | |
| Abstract: | We consider a group of mobile robotic agents, identical and indistinguishable, having no memory (oblivious) and no common frame of reference (neither absolute location nor a common orientation). Furthermore, these agents are assumed to posses only rudimentary sensing and computational capabilities (limited visibility and basic geometric sorting). We prove that, such robots, implementing a Chase the farthest neighbour policy, preform the task of gathering to a point within a finite time or a finite expected number of time steps.
In continuous time, preforming such a gathering task is rather straightforward, while in the discrete time, we prove that a randomized semi-synchronised timing model leads to gathering within a finite expected number of time-steps. |
| Copyright | The above paper is copyright by the Technion, Author(s), or others. Please contact the author(s) for more information |
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