52,370 research outputs found
Deaf, Dumb, and Chatting Robots, Enabling Distributed Computation and Fault-Tolerance Among Stigmergic Robot
We investigate ways for the exchange of information (explicit communication)
among deaf and dumb mobile robots scattered in the plane. We introduce the use
of movement-signals (analogously to flight signals and bees waggle) as a mean
to transfer messages, enabling the use of distributed algorithms among the
robots. We propose one-to-one deterministic movement protocols that implement
explicit communication. We first present protocols for synchronous robots. We
begin with a very simple coding protocol for two robots. Based on on this
protocol, we provide one-to-one communication for any system of n \geq 2 robots
equipped with observable IDs that agree on a common direction (sense of
direction). We then propose two solutions enabling one-to-one communication
among anonymous robots. Since the robots are devoid of observable IDs, both
protocols build recognition mechanisms using the (weak) capabilities offered to
the robots. The first protocol assumes that the robots agree on a common
direction and a common handedness (chirality), while the second protocol
assumes chirality only. Next, we show how the movements of robots can provide
implicit acknowledgments in asynchronous systems. We use this result to design
asynchronous one-to-one communication with two robots only. Finally, we combine
this solution with the schemes developed in synchronous settings to fit the
general case of asynchronous one-to-one communication among any number of
robots. Our protocols enable the use of distributing algorithms based on
message exchanges among swarms of Stigmergic robots. Furthermore, they provides
robots equipped with means of communication to overcome faults of their
communication device
Termination Detection of Local Computations
Contrary to the sequential world, the processes involved in a distributed
system do not necessarily know when a computation is globally finished. This
paper investigates the problem of the detection of the termination of local
computations. We define four types of termination detection: no detection,
detection of the local termination, detection by a distributed observer,
detection of the global termination. We give a complete characterisation
(except in the local termination detection case where a partial one is given)
for each of this termination detection and show that they define a strict
hierarchy. These results emphasise the difference between computability of a
distributed task and termination detection. Furthermore, these
characterisations encompass all standard criteria that are usually formulated :
topological restriction (tree, rings, or triangu- lated networks ...),
topological knowledge (size, diameter ...), and local knowledge to distinguish
nodes (identities, sense of direction). These results are now presented as
corollaries of generalising theorems. As a very special and important case, the
techniques are also applied to the election problem. Though given in the model
of local computations, these results can give qualitative insight for similar
results in other standard models. The necessary conditions involve graphs
covering and quasi-covering; the sufficient conditions (constructive local
computations) are based upon an enumeration algorithm of Mazurkiewicz and a
stable properties detection algorithm of Szymanski, Shi and Prywes
A Certified Universal Gathering Algorithm for Oblivious Mobile Robots
We present a new algorithm for the problem of universal gathering mobile
oblivious robots (that is, starting from any initial configuration that is not
bivalent, using any number of robots, the robots reach in a finite number of
steps the same position, not known beforehand) without relying on a common
chirality. We give very strong guaranties on the correctness of our algorithm
by proving formally that it is correct, using the COQ proof assistant. To our
knowledge, this is the first certified positive (and constructive) result in
the context of oblivious mobile robots. It demonstrates both the effectiveness
of the approach to obtain new algorithms that are truly generic, and its
managability since the amount of developped code remains human readable
Gathering in Dynamic Rings
The gathering problem requires a set of mobile agents, arbitrarily positioned
at different nodes of a network to group within finite time at the same
location, not fixed in advanced.
The extensive existing literature on this problem shares the same fundamental
assumption: the topological structure does not change during the rendezvous or
the gathering; this is true also for those investigations that consider faulty
nodes. In other words, they only consider static graphs. In this paper we start
the investigation of gathering in dynamic graphs, that is networks where the
topology changes continuously and at unpredictable locations.
We study the feasibility of gathering mobile agents, identical and without
explicit communication capabilities, in a dynamic ring of anonymous nodes; the
class of dynamics we consider is the classic 1-interval-connectivity.
We focus on the impact that factors such as chirality (i.e., a common sense
of orientation) and cross detection (i.e., the ability to detect, when
traversing an edge, whether some agent is traversing it in the other
direction), have on the solvability of the problem. We provide a complete
characterization of the classes of initial configurations from which the
gathering problem is solvable in presence and in absence of cross detection and
of chirality. The feasibility results of the characterization are all
constructive: we provide distributed algorithms that allow the agents to
gather. In particular, the protocols for gathering with cross detection are
time optimal. We also show that cross detection is a powerful computational
element.
We prove that, without chirality, knowledge of the ring size is strictly more
powerful than knowledge of the number of agents; on the other hand, with
chirality, knowledge of n can be substituted by knowledge of k, yielding the
same classes of feasible initial configurations
RoboCast: Asynchronous Communication in Robot Networks
This paper introduces the \emph{RoboCast} communication abstraction. The
RoboCast allows a swarm of non oblivious, anonymous robots that are only
endowed with visibility sensors and do not share a common coordinate system, to
asynchronously exchange information. We propose a generic framework that covers
a large class of asynchronous communication algorithms and show how our
framework can be used to implement fundamental building blocks in robot
networks such as gathering or stigmergy. In more details, we propose a RoboCast
algorithm that allows robots to broadcast their local coordinate systems to
each others. Our algorithm is further refined with a local collision avoidance
scheme. Then, using the RoboCast primitive, we propose algorithms for
deterministic asynchronous gathering and binary information exchange
Distributed anonymous discrete function computation
We propose a model for deterministic distributed function computation by a
network of identical and anonymous nodes. In this model, each node has bounded
computation and storage capabilities that do not grow with the network size.
Furthermore, each node only knows its neighbors, not the entire graph. Our goal
is to characterize the class of functions that can be computed within this
model. In our main result, we provide a necessary condition for computability
which we show to be nearly sufficient, in the sense that every function that
satisfies this condition can at least be approximated. The problem of computing
suitably rounded averages in a distributed manner plays a central role in our
development; we provide an algorithm that solves it in time that grows
quadratically with the size of the network
Leader Election in Anonymous Rings: Franklin Goes Probabilistic
We present a probabilistic leader election algorithm for anonymous, bidirectional, asynchronous rings. It is based on an algorithm from Franklin, augmented with random identity selection, hop counters to detect identity clashes, and round numbers modulo 2. As a result, the algorithm is finite-state, so that various model checking techniques can be employed to verify its correctness, that is, eventually a unique leader is elected with probability one. We also sketch a formal correctness proof of the algorithm for rings with arbitrary size
- …