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.
Gathering on Rings for Myopic Asynchronous Robots With Lights
2020-01-01
Conference paper
Electronic Resource
English
Optimal Rendezvous L-Algorithms for Asynchronous Mobile Robots with External-Lights
BASE | 2018
|Online Contents | 2008
|Gathering on a Circle with Limited Visibility by Anonymous Oblivious Robots
BASE | 2020
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