310 research outputs found
Forming Sequences of Patterns with Luminous Robots
The extensive studies on computing by a team of identical mobile robots operating in the plane in Look-Compute-Move cycles have been carried out mainly in the traditional {mathcal{ OBLOT}} model, where the robots are silent (have no communication capabilities) and oblivious (in a cycle, they have no memory previous cycles). To partially overcome the limits of obliviousness and silence while maintaining some of their advantages, the stronger model of luminous robots, {mathcal{ LUMI}} , has been introduced where the robots, otherwise oblivious and silent, carry a visible light that can take a number of different colors; a color can be seen by observing robots, and persists from a cycle to the next. In the study of the computational impact of lights, an immediate concern has been to understand and determine the additional computational strength of {mathcal{ LUMI}} over {mathcal{ OBLOT}}. Within this line of investigation, we examine the problem of forming a sequence of geometric patterns, PatternSequenceFormation. A complete characterization of the sequences of patterns formable from a given starting configuration has been determined in the {mathcal{ OBLOT}} model. In this paper, we study the formation of sequences of patterns in the {mathcal{ LUMI}} model and provide a complete characterization. The characterization is constructive: our universal protocol forms all formable sequences, and it does so asynchronously and without rigidity. This characterization explicitly and clearly identifies the computational strength of {mathcal{ LUMI}} over {mathcal{ OBLOT}} with respect to the Pattern Sequence Formation problem
Exploration of Finite 2D Square Grid by a Metamorphic Robotic System
We consider exploration of finite 2D square grid by a metamorphic robotic
system consisting of anonymous oblivious modules. The number of possible shapes
of a metamorphic robotic system grows as the number of modules increases. The
shape of the system serves as its memory and shows its functionality. We
consider the effect of global compass on the minimum number of modules
necessary to explore a finite 2D square grid. We show that if the modules agree
on the directions (north, south, east, and west), three modules are necessary
and sufficient for exploration from an arbitrary initial configuration,
otherwise five modules are necessary and sufficient for restricted initial
configurations
Collisionless Pattern Discovery in Robot Swarms Using Deep Reinforcement Learning
We present a deep reinforcement learning-based framework for automatically
discovering patterns available in any given initial configuration of fat robot
swarms. In particular, we model the problem of collision-less gathering and
mutual visibility in fat robot swarms and discover patterns for solving them
using our framework. We show that by shaping reward signals based on certain
constraints like mutual visibility and safe proximity, the robots can discover
collision-less trajectories leading to well-formed gathering and visibility
patterns
Arbitrary Pattern Formation on a Continuous Circle by Oblivious Robot Swarm
In the field of distributed system, Arbitrary Pattern Formation (APF) problem
is an extensively studied problem. The purpose of APF is to design an algorithm
to move a swarm of robots to a particular position on an environment (discrete
or continuous) such that the swarm can form a specific but arbitrary pattern
given previously to every robot as an input. In this paper the solvability of
the APF problem on a continuous circle has been discussed for a swarm of
oblivious and silent robots without chirality under a semi synchronous
scheduler. Firstly a class of configurations called \textit{Formable
Configuration}() has been provided which is necessary to solve the APF
problem on a continuous circle. Then considering the initial configuration to
be an , an deterministic and distributed algorithm has been provided that
solves the APF problem for robots on a continuous circle of fixed radius
within epochs without collision
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