248 research outputs found
The Random Bit Complexity of Mobile Robots Scattering
We consider the problem of scattering robots in a two dimensional
continuous space. As this problem is impossible to solve in a deterministic
manner, all solutions must be probabilistic. We investigate the amount of
randomness (that is, the number of random bits used by the robots) that is
required to achieve scattering. We first prove that random bits are
necessary to scatter robots in any setting. Also, we give a sufficient
condition for a scattering algorithm to be random bit optimal. As it turns out
that previous solutions for scattering satisfy our condition, they are hence
proved random bit optimal for the scattering problem. Then, we investigate the
time complexity of scattering when strong multiplicity detection is not
available. We prove that such algorithms cannot converge in constant time in
the general case and in rounds for random bits optimal
scattering algorithms. However, we present a family of scattering algorithms
that converge as fast as needed without using multiplicity detection. Also, we
put forward a specific protocol of this family that is random bit optimal ( random bits are used) and time optimal ( rounds are used).
This improves the time complexity of previous results in the same setting by a
factor. Aside from characterizing the random bit complexity of mobile
robot scattering, our study also closes its time complexity gap with and
without strong multiplicity detection (that is, time complexity is only
achievable when strong multiplicity detection is available, and it is possible
to approach it as needed otherwise)
Deterministic meeting of sniffing agents in the plane
Two mobile agents, starting at arbitrary, possibly different times from
arbitrary locations in the plane, have to meet. Agents are modeled as discs of
diameter 1, and meeting occurs when these discs touch. Agents have different
labels which are integers from the set of 0 to L-1. Each agent knows L and
knows its own label, but not the label of the other agent. Agents are equipped
with compasses and have synchronized clocks. They make a series of moves. Each
move specifies the direction and the duration of moving. This includes a null
move which consists in staying inert for some time, or forever. In a non-null
move agents travel at the same constant speed, normalized to 1. We assume that
agents have sensors enabling them to estimate the distance from the other agent
(defined as the distance between centers of discs), but not the direction
towards it. We consider two models of estimation. In both models an agent reads
its sensor at the moment of its appearance in the plane and then at the end of
each move. This reading (together with the previous ones) determines the
decision concerning the next move. In both models the reading of the sensor
tells the agent if the other agent is already present. Moreover, in the
monotone model, each agent can find out, for any two readings in moments t1 and
t2, whether the distance from the other agent at time t1 was smaller, equal or
larger than at time t2. In the weaker binary model, each agent can find out, at
any reading, whether it is at distance less than \r{ho} or at distance at least
\r{ho} from the other agent, for some real \r{ho} > 1 unknown to them. Such
distance estimation mechanism can be implemented, e.g., using chemical sensors.
Each agent emits some chemical substance (scent), and the sensor of the other
agent detects it, i.e., sniffs. The intensity of the scent decreases with the
distance.Comment: A preliminary version of this paper appeared in the Proc. 23rd
International Colloquium on Structural Information and Communication
Complexity (SIROCCO 2016), LNCS 998
The locally covariant Dirac field
We describe the free Dirac field in a four dimensional spacetime as a locally
covariant quantum field theory in the sense of Brunetti, Fredenhagen and Verch,
using a representation independent construction. The freedom in the geometric
constructions involved can be encoded in terms of the cohomology of the
category of spin spacetimes. If we restrict ourselves to the observable algebra
the cohomological obstructions vanish and the theory is unique. We establish
some basic properties of the theory and discuss the class of Hadamard states,
filling some technical gaps in the literature. Finally we show that the
relative Cauchy evolution yields commutators with the stress-energy-momentum
tensor, as in the scalar field case.Comment: 36 pages; v2 minor changes, typos corrected, updated references and
acknowledgement
Global Overview of Flora and Plant Diversity in Togo (West Africa)
The flora constitutes an important reference tool very used in biology. Its constant update is fundamental in order to promote new directions in conservation. The current study was developed as a synthesis of the analytical flora in Togo. It aims to produce an inventory of this flora by emphasizing its distribution along ecological zones. Its purpose is to make an assessment of the greatest entities of the flora including those of introduced, threatened to disappearance plant species. This synthesis was possible thanks to the use of data retrieved from the existing analytical flora associated with some reports on this flora. Information was organized according to the junctions, of introducing and threatened to disappearances species. They were analyzed on the basis of the phytogeographical types and life forms, and then classified according to ecological zone. From this synthesis it appeared that the flora of Togo would lay out 3468 species distributed among the algae (201especes), Bryophytes (13 species), Pteridophyts (129 species), Gymnosperms (13 species), and Angiosperms (2992 species). The phanerophytes, therophytes, the lianas, and hemicryptophytes dominate the biological spectrum, whereas the guineo-congolian (GC), Sudano-Zambezian (SZ), and transition zone species (GC-SZ) represents phytogeographical types. Face to the new challenges, especially economic, and environmental which fit all in a sustainable context of resources management, an update of all the flora will be a strategic element in the framework of management and conservation of biodiversity
Want to Gather? No Need to Chatter!
A team of mobile agents, starting from different nodes of an unknown network,
possibly at different times, have to meet at the same node and declare that
they have all met. Agents have different labels and move in synchronous rounds
along links of the network. The above task is known as gathering and was
traditionally considered under the assumption that when some agents are at the
same node then they can talk. In this paper we ask the question of whether this
ability of talking is needed for gathering. The answer turns out to be no.
Our main contribution are two deterministic algorithms that always accomplish
gathering in a much weaker model. We only assume that at any time an agent
knows how many agents are at the node that it currently occupies but agents do
not see the labels of other co-located agents and cannot exchange any
information with them. They also do not see other nodes than the current one.
Our first algorithm works under the assumption that agents know a priori some
upper bound N on the network size, and it works in time polynomial in N and in
the length l of the smallest label. Our second algorithm does not assume any a
priori knowledge about the network but its complexity is exponential in the
network size and in the labels of agents. Its purpose is to show feasibility of
gathering under this harsher scenario.
As a by-product of our techniques we obtain, in the same weak model, the
solution of the fundamental problem of leader election among agents. As an
application of our result we also solve, in the same model, the well-known
gossiping problem: if each agent has a message at the beginning, we show how to
make all messages known to all agents, even without any a priori knowledge
about the network. If agents know an upper bound N on the network size then our
gossiping algorithm works in time polynomial in N, in l and in the length of
the largest message
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
Pattern formation
The Pattern Formation problem is one of the most important coordination problem for robotic systems. Initially the entities are in arbitrary positions; within finite time they must arrange themselves in the space so to form a pattern given in input. In this chapter, we will mainly deal with the problem in the OBLOT model
The Newtonian Limit for Asymptotically Flat Solutions of the Vlasov-Einstein System
It is shown that there exist families of asymptotically flat solutions of the
Einstein equations coupled to the Vlasov equation describing a collisionless
gas which have a Newtonian limit. These are sufficiently general to confirm
that for this matter model as many families of this type exist as would be
expected on the basis of physical intuition. A central role in the proof is
played by energy estimates in unweighted Sobolev spaces for a wave equation
satisfied by the second fundamental form of a maximal foliation.Comment: 24 pages, plain TE
Byzantine Gathering in Networks
This paper investigates an open problem introduced in [14]. Two or more
mobile agents start from different nodes of a network and have to accomplish
the task of gathering which consists in getting all together at the same node
at the same time. An adversary chooses the initial nodes of the agents and
assigns a different positive integer (called label) to each of them. Initially,
each agent knows its label but does not know the labels of the other agents or
their positions relative to its own. Agents move in synchronous rounds and can
communicate with each other only when located at the same node. Up to f of the
agents are Byzantine. A Byzantine agent can choose an arbitrary port when it
moves, can convey arbitrary information to other agents and can change its
label in every round, in particular by forging the label of another agent or by
creating a completely new one.
What is the minimum number M of good agents that guarantees deterministic
gathering of all of them, with termination?
We provide exact answers to this open problem by considering the case when
the agents initially know the size of the network and the case when they do
not. In the former case, we prove M=f+1 while in the latter, we prove M=f+2.
More precisely, for networks of known size, we design a deterministic algorithm
gathering all good agents in any network provided that the number of good
agents is at least f+1. For networks of unknown size, we also design a
deterministic algorithm ensuring the gathering of all good agents in any
network but provided that the number of good agents is at least f+2. Both of
our algorithms are optimal in terms of required number of good agents, as each
of them perfectly matches the respective lower bound on M shown in [14], which
is of f+1 when the size of the network is known and of f+2 when it is unknown
Rendezvous on a Line by Location-Aware Robots Despite the Presence of Byzantine Faults
A set of mobile robots is placed at points of an infinite line. The robots
are equipped with GPS devices and they may communicate their positions on the
line to a central authority. The collection contains an unknown subset of
"spies", i.e., byzantine robots, which are indistinguishable from the
non-faulty ones. The set of the non-faulty robots need to rendezvous in the
shortest possible time in order to perform some task, while the byzantine
robots may try to delay their rendezvous for as long as possible. The problem
facing a central authority is to determine trajectories for all robots so as to
minimize the time until the non-faulty robots have rendezvoused. The
trajectories must be determined without knowledge of which robots are faulty.
Our goal is to minimize the competitive ratio between the time required to
achieve the first rendezvous of the non-faulty robots and the time required for
such a rendezvous to occur under the assumption that the faulty robots are
known at the start. We provide a bounded competitive ratio algorithm, where the
central authority is informed only of the set of initial robot positions,
without knowing which ones or how many of them are faulty. When an upper bound
on the number of byzantine robots is known to the central authority, we provide
algorithms with better competitive ratios. In some instances we are able to
show these algorithms are optimal
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