P. Flocchini, G. Prencipe, N. Santoro, and P. Widmayer. Distributed Coordination of a Set of Autonomous Mobile Robots. In IEEE Intelligent Veichle Symposium (IV 2000.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....should not rely on an ordering of the robots, especially, there is no leader among the robots. The question is the following: Which distributed algorithm can the robots use to complete the task Besides practical studies, the point formation problem has been investigated in a more theoretical way [SY93, SS96, SY99, Pre01, FPSW99, FPSW00]. The solutions presented in these publications are complex, and some of them are hard to understand or verify. We present a new approach whose most distinguishing feature is its simplicity. A rough outline of our solution is as follows: Every robot takes a snapshot and detects the multi set of ....

P. Flocchini, G. Prencipe, N. Santoro, and P. Widmayer. Distributed coordination of a set of autonomous mobile robots. In IEEE Intelligent Vehicle Symposium (IV 2000), pages 480--485, 2000.

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P. Flocchini, G. Prencipe, N. Santoro, and P. Widmayer. Distributed Coordination of a Set of Autonomous Mobile Robots. In IEEE Intelligent Veichle Symposium (IV 2000.

....to form the pattern in the plane, and move to positions such that the flock is formed and maintained. Adopting such simple units aims at understanding what kind of complex tasks can be achieved, and under which conditions (for a detailed discussion on this model and its motivations, refer to [17,16,21,22]) 3 The flocking problem In this section we give a formal definition of a family of problems that we call collectively the Flocking Problem. In particular, we propose two variants of the problem, and characterize through several metrics the degree of acceptability of an approximate solution. ....

G. Prencipe, Distributed Coordination of a Set of Autonomous Mobile Robots, Ph.D. thesis, Universita di Pisa (2002).

....to form the pattern in the plane, and move to positions such that the flock is formed and maintained. Adopting such simple units aims at understanding what kind of complex tasks can be achieved, and under which conditions (for a detailed discussion on this model and its motivations, refer to [17,16,21,22]) 3 The flocking problem In this section we give a formal definition of a family of problems that we call collectively the Flocking Problem. In particular, we propose two variants of the problem, and characterize through several metrics the degree of acceptability of an approximate solution. ....

P. Flocchini, G. Prencipe, N. Santoro, P. Widmayer, Distributed Coordination of a Set of Autonomous Mobile Robots, in: IEEE Intelligent Veichle Symposium (IV 2000.

....the capabilities of the robots employed, and the robots knowledge of the environment are given. Recently, concerns on computability and complexity of the coordination problem have motivated algorithmic investigations, and the problem has also been approached from a computational point of view [1, 4, 5, 8, 9, 10]. In [1] and [10] any action of the robots, including moving, is instantaneous, while in [4, 5, 8, 9] as well as in this paper, there is no such assumption. We consider a very weak model of robots: The robots are anonymous, have no common knowledge, no central coordination, and no means of ....

.... concerns on computability and complexity of the coordination problem have motivated algorithmic investigations, and the problem has also been approached from a computational point of view [1, 4, 5, 8, 9, 10] In [1] and [10] any action of the robots, including moving, is instantaneous, while in [4, 5, 8, 9], as well as in this paper, there is no such assumption. We consider a very weak model of robots: The robots are anonymous, have no common knowledge, no central coordination, and no means of direct communication. Initially, they are in a waiting state. They wake up asynchronously, observe the ....

[Article contains additional citation context not shown here]

G. Prencipe. Distributed Coordination of a Set of Autonomous Mobile Robots. PhD thesis, Universita di Pisa, 2002. http://sbrinz.di.unipi.it/peppe/tesi.ps.

....to form the pattern in the plane, and move to positions such that the ock is formed and maintained. Adopting such simple units aims at understanding what kind of complex tasks can be achieved, and under which conditions (for a detailed discussion on this model and its motivations, refer to [17,16,21,22]) 3 The ocking problem In this section we give a formal de nition of a family of problems that we call collectively the Flocking Problem. In particular, we propose two variants of the problem, and characterize through several metrics the degree of acceptability of an approximate solution. ....

G. Prencipe, Distributed Coordination of a Set of Autonomous Mobile Robots, Ph.D. thesis, Universita di Pisa (2002).

....to form the pattern in the plane, and move to positions such that the ock is formed and maintained. Adopting such simple units aims at understanding what kind of complex tasks can be achieved, and under which conditions (for a detailed discussion on this model and its motivations, refer to [17,16,21,22]) 3 The ocking problem In this section we give a formal de nition of a family of problems that we call collectively the Flocking Problem. In particular, we propose two variants of the problem, and characterize through several metrics the degree of acceptability of an approximate solution. ....

P. Flocchini, G. Prencipe, N. Santoro, P. Widmayer, Distributed Coordination of a Set of Autonomous Mobile Robots, in: IEEE Intelligent Veichle Symposium (IV 2000.

.... Furthermore, it allows us to better understand the power and limitations of the distributed control in an environment inhabited by mobile agents, hence to formally prove what can be achieved under the weakness assumptions of the models, that will be described later in more detail (see [7] for more detailed motivations) An investigation with an algorithmic avor has been undertaken within the AI community by Durfee [5] who argues in favor of limiting the knowledge that an intelligent robot must possess in order to be able to coordinate its behavior with others. Although the ....

....way it is possible to formally analyze the strengths and weaknesses of the distributed control. Furthermore, this simplicity can also lead to some advantages. For example, avoiding the ability to remember what has been computed in the past gives the system the nice property of self stabilization [7, 14]. During its life, each robot cyclically is in three states: i) it observes the positions of the others in the world, ii) it computes its next destination point, and (iii) it moves towards the point it just computed. As already stated, the robots execute these phases asynchronously, without any ....

[Article contains additional citation context not shown here]

P. Flocchini, G. Prencipe, N. Santoro, and P. Widmayer. Distributed Coordination of a Set of Autonomous Mobile Robots. In IEEE Intelligent Veichle 2000, pages 480-485, 2000.

....to the pattern formation for robots, under several assumptions on the power of the individual robot. The only other study, to our knowledge, that approaches the problem of coordinating and controlling a set of autonomous mobile robots from a computational point of view is that of Prencipe et al. [9, 10, 11, 18, 19]. However, the two approaches differ with respect to the assumptions on the robots capabilities (the robots in this model are weaker than those in the previous one) The paper is organized as follows. The two models cited above are presented in Section 2, and their differences are highlighted. ....

....concentrated on the gathering problem. In the unlimited visibility setting of both CORDA and SYm, one feature the robots must have in order to solve this problem, is the ability to detect multiplicity, that is the ability to detect if on a given point on the plane there is more than one robot [19] (recall that the robots are viewed as points) In SYm, the solvability of the gathering problem is given by the following Theorem 3.2. 2. if the robots have unlimited visibility, there exists an oblivious algorithm for solving the gathering problem for a number of robots n 3 [21] 3. it the ....

G. Prencipe. Distributed Coordination of a Set of Autonomous Mobile Robots. PhD thesis, Universita di Pisa, 2002. http://sbrinz.di.unipi.it/peppe/tesi.ps.

....to the pattern formation for robots, under several assumptions on the power of the individual robot. The only other study, to our knowledge, that approaches the problem of coordinating and controlling a set of autonomous mobile robots from a computational point of view is that of Prencipe et al. [9, 10, 11, 18, 19]. However, the two approaches differ with respect to the assumptions on the robots capabilities (the robots in this model are weaker than those in the previous one) The paper is organized as follows. The two models cited above are presented in Section 2, and their differences are highlighted. ....

....way it is possible to formally analyze the strengths and weaknesses of the distributed control. Furthermore, this simplicity can also lead to some advantages. For example, avoiding the ability to remember what has been computed in the past gives the system the nice property of self stabilization [10, 21]. During its life, each robot repeatedly executes a cycle composed of four phases: 1. Look The robot observes the world by activating its sensors which will return a snapshot of the positions of all other robots with respect to its local coordinate system. Each robot r i is viewed as a point, ....

P. Flocchini, G. Prencipe, N. Santoro, and P. Widmayer. Distributed Coordination of a Set of Autonomous Mobile Robots. In IEEE Intelligent Veichle Symposium (IV 2000.

....the capabilities of the robots employed, and the robots knowledge of the environment are given. Recently, concerns on computability and complexity of the coordination problem have motivated algorithmic investigations, and the problem has also been approached from a computational point of view [1, 5, 6, 10, 11, 13]. In [1] and [13] any action of the robots, including moving, is instantaneous, while in [5, 6, 10, 11] as well as in this paper, there is no such assumption. An extended abstract of this paper has been published in [3] We consider a very weak model of robots: the robots are anonymous, have no ....

.... concerns on computability and complexity of the coordination problem have motivated algorithmic investigations, and the problem has also been approached from a computational point of view [1, 5, 6, 10, 11, 13] In [1] and [13] any action of the robots, including moving, is instantaneous, while in [5, 6, 10, 11], as well as in this paper, there is no such assumption. An extended abstract of this paper has been published in [3] We consider a very weak model of robots: the robots are anonymous, have no common knowledge, no central coordination, and no means of direct communication. Initially, they are in ....

G. Prencipe. Distributed Coordination of a Set of Autonomous Mobile Robots. PhD thesis, Universit`a di Pisa, 2002. http://sbrinz.di.unipi.it/~peppe/tesi.ps.

....to the pattern formation for robots, under several assumptions on the power of the individual robot. The only other study, to our knowledge, that approaches the problem of coordinating and controlling a set of autonomous mobile robots from a computational point of view is that of Prencipe et al. [9, 10, 11, 18, 19]. However, the two approaches differ with respect to the assumptions on the robots capabilities (the robots in this model are weaker than those in the previous one) The paper is organized as follows. The two models cited above are presented in Section 2, and their differences are highlighted. ....

....concentrated on the gathering problem. In the unlimited visibility setting of both CORDA and SYm, one feature the robots must have in order to solve this problem, is the ability to detect multiplicity, that is the ability to detect if on a given point on the plane there is more than one robot [19] (recall that the robots are viewed as points) In SYm, the solvability of the gathering problem is given by the following Theorem 3.2. gathering problem for a number of robots # # # [21] 3. it the robots have limited visibility, there exists an oblivious procedure that lets robots converge ....

G. Prencipe. Distributed Coordination of a Set of Autonomous Mobile Robots. PhD thesis, Universita di Pisa, 2002. http://sbrinz.di.unipi.it/peppe/tesi.ps.

....to the pattern formation for robots, under several assumptions on the power of the individual robot. The only other study, to our knowledge, that approaches the problem of coordinating and controlling a set of autonomous mobile robots from a computational point of view is that of Prencipe et al. [9, 10, 11, 18, 19]. However, the two approaches differ with respect to the assumptions on the robots capabilities (the robots in this model are weaker than those in the previous one) The paper is organized as follows. The two models cited above are presented in Section 2, and their differences are highlighted. ....

....way it is possible to formally analyze the strengths and weaknesses of the distributed control. Furthermore, this simplicity can also lead to some advantages. For example, avoiding the ability to remember what has been computed in the past gives the system the nice property of self stabilization [10, 21]. During its life, each robot repeatedly executes a cycle composed of four phases: 1. Look The robot observes the world by activating its sensors which will return a snapshot of the positions of all other robots with respect to its local coordinate system. Each robot # # is viewed as a point, ....

P. Flocchini, G. Prencipe, N. Santoro, and P. Widmayer. Distributed Coordination of a Set of Autonomous Mobile Robots. In IEEE Intelligent Veichle Symposium (IV 2000.

....nor on any common notion of time. Furthermore, they are oblivious, meaning that they do not (need to) remember any previous observation nor computations performed in the previous steps. Note that this feature gives the algorithms designed in this model the nice property of self stabilization [9]: in fact, every decision taken by a follower can not depend on what happened in the system previously, and hence is not based on corrupted data stored in its local memory. They have as input, however, the same pattern F representing the flock to be kept. F is described as a set of coordinates in ....

....to form the pattern in the plane, and move to positions such that the flock is formed and maintained. Adopting such simple units aims at understanding what kind of complex tasks can be achieved, and under which conditions (for a detailed discussion on this model and its motivations, refer to [10, 8, 9, 12]) 3 The Flocking Problem In this section we give a formal definition of a family of problems that we call collectively the Flocking Problem. In particular, we propose two variants of the problem, and characterize through several metrics the degree of acceptability of an approximate solution. ....

P. Flocchini, G. Prencipe, N. Santoro, and P. Widmayer. Distributed Coordi- nation of a Set of Autonomous Mobile Robots. In IEEE Intelligent Vehicles Symposium (IVS2000.

....interactions. Furthermore, it allows us to better understand the power and limitations of the distributed control in an environment inhabited by mobile agents, hence to formally prove what can be achieved under the weakness assumptions of Corda, that will be described later in more detail (see [7] for more detailed motivations) An investigation with an algorithmic avor has been undertaken within the AI community by Durfee [5] who argues in favor of limiting the knowledge that an intelligent robot must possess in order to be able to coordinate its behavior with others. The work of Suzuki ....

....way it is possible to formally analyze the strengths and weaknesses of the distributed control. Furthermore, this simplicity can also lead to some advantages. For example, avoiding the ability to remember what has been computed in the past gives the system the nice property of self stabilization [7, 14]. During its life, each robot cyclically executes three phases: i) it observes the positions of the others in the world, ii) it computes its next destination point, and (iii) it moves towards the point it just computed. As already stated, the robots execute these phases asynchronously, without ....

[Article contains additional citation context not shown here]

P. Flocchini, G. Prencipe, N. Santoro, and P. Widmayer. Distributed Coordination of a Set of Autonomous Mobile Robots. In IVS, 2000.

....nor on any common notion of time. Furthermore, they are oblivious, meaning that they do not (need to) remember any previous observation nor computations performed in the previous steps. Note that this feature gives the algorithms designed in this model the nice property of self stabilization [9]: in fact, every decision taken by a follower can not depend on what happened in the system previously, and hence is not based on corrupted data stored in its local memory. They have as input, however, the same pattern F representing the ock to be kept. F is described as a set of coordinates in ....

....to form the pattern in the plane, and move to positions such that the ock is formed and maintained. Adopting such simple units aims at understanding what kind of complex tasks can be achieved, and under which conditions (for a detailed discussion on this model and its motivations, refer to [10, 8, 9, 12]) 3 The Flocking Problem In this section we give a formal de nition of a family of problems that we call collectively the Flocking Problem. In particular, we propose two variants of the problem, and characterize through several metrics the degree of acceptability of an approximate solution. ....

P. Flocchini, G. Prencipe, N. Santoro, and P. Widmayer. Distributed Coordination of a Set of Autonomous Mobile Robots. In IEEE Intelligent Vehicles Symposium (IVS2000), pages 480-485, 2000.

.... central control, they move independently from each other, they do not have any means of direct communication, and no capability to remember the past (the model will be described in more detail in Section 3) Motivations on the use of such a model and on the utility of such a study can be found in [6, 7]. 1 In [6] the arbitrary pattern formation problem was studied. From that study, it was shown that whether or not an arbitrary pattern could be formed depended on the amount of (the initial) common knowledge the robots have, regarding the direction and orientation of the local coordinate system. ....

.... for example, social interaction leading to group behavior [9] sel sh behavior of cooperative robots in animal societies [11] or primitive animal behavior in pattern formation [2] for a survey, refer to [4] Most of these studies, however, did not focus on algorithmic aspects of the problem [7]. One which did have, however, an algorithmic avor was by Durfee [5] who suggested to limit the knowledge that a robot must possess in order to better coordinate its behavior with others. However, the main studies, to our knowledge, that aim to better understand the power and the limitations of ....

[Article contains additional citation context not shown here]

P. Flocchini, G. Prencipe, N. Santoro, and P. Widmayer. Distributed Coordination of a Set of Autonomous Mobile Robots. In IVS, 2000.

....nor on any common notion of time. Furthermore, they are oblivious, meaning that they do not (need to) remember any previous observation nor computations performed in the previous steps. Note that this feature gives the algorithms designed in this model the nice property of self stabilization [10]: in fact, every decision taken by a follower can not depend on what happened in the system previously, and hence is not based on corrupted data stored in its local memory. They have as input, however, the same pattern F representing the flock to be kept. F is described as a set of coordinates in ....

....to form the pattern in the plane, and move to positions such that the flock is formed and maintained. Adopting such simple units aims at understanding what kind of complex tasks can be achieved, and under which conditions (for a detailed discussion on this model and its motivations, refer to [11, 9, 10, 12]) 4 The obliviousness of the ships also renders the observations weaker. In fact, nothing observed in the past can be remembered, hence used in order to let the ships organize themselves to accomplish their task. 6 Proceedings in Informatics a. b. Figure 1: The triangle represents the ....

P. Flocchini, G. Prencipe, N. Santoro, and P. Widmayer. Distributed Coordination of a Set of Autonomous Mobile Robots. In IEEE Intelligent Vehicles Symposium (IVS2000), pages 480--485, 2000.

....to accomplish basic tasks and produce interesting interactions. Furthermore, it allows us to understand better the limitations of the distributed control in an environment inhabited by mobile agents. The main motivations that prompted us to study the problem in this new perspective can be found in [10]. 3 Main Results As already mentioned, the work of I. Suzuki et al. is the closest to ours. There are, however, some aspects that render our approach and theirs quite di erent. In particular, in [1, 19] instantaneous action of the robots is modeled: every robots execute their cycle atomically. ....

P. Flocchini, G. Prencipe, N. Santoro, and P. Widmayer. Distributed Coordination of a Set of Autonomous Mobile Robots. In IVS, pages 480-485, 2000.

No context found.

G. Prencipe. Distributed Coordination of a Set of Autonomous Mobile Robots. Ph.D. thesis Dipartimento di Informatica, Universita degli Studi di Pisa, 2002. http://www.di.unipi.it/phd/tesi/tesi_2002/PhDthesis_Prencipe.ps.gz.

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P. Flocchini, G. Prencipe, N. Santoro, and P. Widmayer. Distributed coordination of a set of autonomous mobile robots. In Proc. IEEE Intelligent Vehicle Symposium (IV 2000), pages 480-485, 2000.

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