Gathering on Rings for Myopic Asynchronous Robots With Lights

We investigate gathering algorithms for asynchronous autonomous mobile robots moving in uniform ring-shaped networks. Different from most work using the Look-Compute-Move (LCM) model, we assume that robots have limited visibility and lights. That is, robots can observe nodes only within a certain fixed distance, and emit a color from a set of constant number of colors. We consider gathering algorithms depending on two parameters related to the initial configuration: M_{init}, which denotes the number of nodes between two border nodes, and O_{init}, which denotes the number of nodes hosting robots between two border nodes. In both cases, a border node is a node hosting one or more robots that cannot see other robots on at least one side. Our main contribution is to prove that, if M_{init} or O_{init} is odd, gathering is always feasible with three or four colors. The proposed algorithms do not require additional assumptions, such as knowledge of the number of robots, multiplicity detection capabilities, or the assumption of towerless initial configurations. These results demonstrate the power of lights to achieve gathering of robots with limited visibility

Asynchronous Gathering in a Torus

We consider the gathering problem for asynchronous and oblivious robots that cannot communicate explicitly with each other but are endowed with visibility sensors that allow them to see the positions of the other robots. Most investigations on the gathering problem on the discrete universe are done on ring shaped networks due to the number of symmetric configurations. We extend in this paper the study of the gathering problem on torus shaped networks assuming robots endowed with local weak multiplicity detection. That is, robots cannot make the difference between nodes occupied by only one robot from those occupied by more than one robot unless it is their current node. Consequently, solutions based on creating a single multiplicity node as a landmark for the gathering cannot be used. We present in this paper a deterministic algorithm that solves the gathering problem starting from any rigid configuration on an asymmetric unoriented torus shaped network

Rendezvous on a Known Dynamic Point on a Finite Unoriented Grid

In this paper, we have considered two fully synchronous $\mathcal{OBLOT}$ robots having no agreement on coordinates entering a finite unoriented grid through a door vertex at a corner, one by one. There is a resource that can move around the grid synchronously with the robots until it gets co-located along with at least one robot. Assuming the robots can see and identify the resource, we consider the problem where the robots must meet at the location of this dynamic resource within finite rounds. We name this problem "Rendezvous on a Known Dynamic Point". Here, we have provided an algorithm for the two robots to gather at the location of the dynamic resource. We have also provided a lower bound on time for this problem and showed that with certain assumption on the waiting time of the resource on a single vertex, the algorithm provided is time optimal. We have also shown that it is impossible to solve this problem if the scheduler considered is semi-synchronous

A Theoretical Model for Autonomous Mobile Robots based on CPS and Limitations of its Computation

研究成果の概要 (和文) : CPSを考慮に入れた自律分散ロボット群に理論モデル構築とその上でのロボット群の計算能力に関して主として以下の成果を得た．（1）CPSを意識した新しい自律分散ロボット群のモデル化とその上でのロボットに対するオンライン経路探索アルゴリズムを開発した．（2）従来のLCMロボットモデルにおける集合問題の可解性を耐故障性の観点から明らかにした．（3）ライト付きロボット群に対する計算能力を明らかにした．（4）リングネットワークにおける制限視野をもつライト付きロボット群の集合問題に対する色数最適なアルゴリズムを与えた．このアルゴリズムはロボットの動作が完全な非同期でも動作する．研究成果の概要 (英文) : We construct a theoretical model based on CPS for autonomous mobile robots and obtain several results about the computational power of autonomous mobile robots as follows: (1) A new model for mobile robots including the concept of CPS is proposed and an online routing algorithm for mobile robots is developed. (2) We give fault-tolerant gathering algorithms on an LCM robot model. (3) We clarify the computational power of mobile robots with lights. (4) We solve gathering problem of myopic mobile robots on ring-shaped networks, which can behave in completely asynchronous fashion

Practical Considerations and Applications for Autonomous Robot Swarms

In recent years, the study of autonomous entities such as unmanned vehicles has begun to revolutionize both military and civilian devices. One important research focus of autonomous entities has been coordination problems for autonomous robot swarms. Traditionally, robot models are used for algorithms that account for the minimum specifications needed to operate the swarm. However, these theoretical models also gloss over important practical details. Some of these details, such as time, have been considered before (as epochs of execution). In this dissertation, we examine these details in the context of several problems and introduce new performance measures to capture practical details. Specifically, we introduce three new metrics: (1) the distance complexity (reflecting power usage and wear-and-tear of robots), (2) the spatial complexity (reflecting the space needed for the algorithm to work), and (3) local computational complexity (reflecting the computational requirements for each robot in the swarm). We apply these metrics in the study of some well-known and important problems, such as Complete Visibility and Arbitrary Pattern Formation. We also introduce and study a new problem, Doorway Egress, that captures the essence of a swarm’s navigation through restricted spaces. First, we examine the distance and spatial complexity used across a class of Complete Visibility algorithms. Second, we provide algorithms for Complete Visibility on an integer plane, including some that are asymptotically optimal in terms of time, distance complexity, and spatial complexity. Third, we introduce the problem of Doorway Egress and provide algorithms for a variety of robot swarm models with various optimalities. Finally, we provide an optimal algorithm for Arbitrary Pattern Formation on the grid

American Literature and Science

Literature and science are two disciplines are two disciplines often thought to be unrelated, if not actually antagonistic. But Robert J. Scholnick points out that these areas of learning, up through the beginning of the nineteenth century, “were understood as parts of a unitary endeavor.By mid-century they had diverged, but literature and science have continued to interact, conflict, and illuminate each other. In this innovative work, twelve leaders in this emerging interdisciplinary field explore the long engagement of American writers with science and uncover science’s conflicting meanings as a central dimension of the nation’s conception of itself. Reaching back to the Puritan poet-minister-physician Edward Taylor, who wrote at the beginning of the scientific revolution, and forward to Thomas Pynchon, novelist of the cybernetic age, this collection of original essays contains essential work on major writers, including Franklin, Jefferson, Poe, Emerson, Thoreau, Twain, Hart Crane, Dos Passos, and Charles Olson. Through its exploration of the ways that American writers have found in science and technology a vital imaginative stimulus, even while resisting their destructive applications, this book points towards a reconciliation and integration within culture. An innovative look at a neglected dimension of our literary tradition, American Literature and Science stands as both a definition of the field and an invitation to others to continue and extend new modes of inquiry. A thoughtful collection that reveals how the concept of ‘science’ has evolved from Franklin to cyberpunk, and how it has transformed American literary form and expression. —American Literature Innovative. . . . The first systematic examination of this neglected dimension of the American literary tradition. —American Renaissance Literary Reporthttps://uknowledge.uky.edu/upk_english_language_and_literature_north_america/1013/thumbnail.jp

Technical, Economic and Societal Effects of Manufacturing 4.0

This open access book is among the first cross-disciplinary works about Manufacturing 4.0. It includes chapters about the technical, the economic, and the social aspects of this important phenomenon. Together the material presented allows the reader to develop a holistic picture of where the manufacturing industry and the parts of the society that depend on it may be going in the future. Manufacturing 4.0 is not only a technical change, nor is it a purely technically driven change, but it is a societal change that has the potential to disrupt the way societies are constructed both in the positive and in the negative. This book will be of interest to scholars researching manufacturing, technological innovation, innovation management and industry 4.0