21,162 research outputs found

    Uniform multi-agent deployment on a ring

    Get PDF
    AbstractWe consider two variants of the task of spreading a swarm of agents uniformly on a ring graph. Ant-like oblivious agents having limited capabilities are considered. The agents are assumed to have little memory, they all execute the same algorithm and no direct communication is allowed between them. Furthermore, the agents do not possess any global information. In particular, the size of the ring (n) and the number of agents in the swarm (k) are unknown to them. The agents are assumed to operate on an unweighted ring graph. Every agent can measure the distance to his two neighbors on the ring, up to a limited range of V edges.The first task considered, is dynamical (i.e. in motion) uniform deployment on the ring. We show that if either the ring is unoriented, or the visibility range is less than ⌊n/k⌋, this is an impossible mission for the agents. Then, for an oriented ring and V≄⌈n/k⌉, we propose an algorithm which achieves the deployment task in optimal time. The second task discussed, called quiescent spread, requires the agents to spread uniformly over the ring and stop moving. We prove that under our model, in which every agent can measure the distance only to his two neighbors, this task is impossible. Subsequently, we propose an algorithm which achieves quiescent but only almost uniform spread.The algorithms we present are scalable and robust. In case the environment (the size of the ring) or the number of agents changes during the run, the swarm adapts and re-deploys without requiring any outside interference

    Second-Order Agents on Ring Digraphs

    Full text link
    The paper addresses the problem of consensus seeking among second-order linear agents interconnected in a specific ring topology. Unlike the existing results in the field dealing with one-directional digraphs arising in various cyclic pursuit algorithms or two-directional graphs, we focus on the case where some arcs in a two-directional ring graph are dropped in a regular fashion. The derived condition for achieving consensus turns out to be independent of the number of agents in a network.Comment: 6 pages, 10 figure

    The simplicity project: easing the burden of using complex and heterogeneous ICT devices and services

    Get PDF
    As of today, to exploit the variety of different "services", users need to configure each of their devices by using different procedures and need to explicitly select among heterogeneous access technologies and protocols. In addition to that, users are authenticated and charged by different means. The lack of implicit human computer interaction, context-awareness and standardisation places an enormous burden of complexity on the shoulders of the final users. The IST-Simplicity project aims at leveraging such problems by: i) automatically creating and customizing a user communication space; ii) adapting services to user terminal characteristics and to users preferences; iii) orchestrating network capabilities. The aim of this paper is to present the technical framework of the IST-Simplicity project. This paper is a thorough analysis and qualitative evaluation of the different technologies, standards and works presented in the literature related to the Simplicity system to be developed
    • 

    corecore