Constant-Time Complete Visibility for Robots with Lights: The Asynchronous Case

Author:

Sharma GokarnaORCID,Vaidyanathan Ramachandran,Trahan Jerry L.ORCID

Abstract

We consider the distributed setting of N autonomous mobile robots that operate in Look-Compute-Move (LCM) cycles and use colored lights (the robots with lights model). We assume obstructed visibility where a robot cannot see another robot if a third robot is positioned between them on the straight line segment connecting them. In this paper, we consider the problem of positioning N autonomous robots on a plane so that every robot is visible to all others (this is called the Complete Visibility problem). This problem is fundamental, as it provides a basis to solve many other problems under obstructed visibility. In this paper, we provide the first, asymptotically optimal, O(1) time, O(1) color algorithm for Complete Visibility in the asynchronous setting. This significantly improves on an O(N)-time translation of the existing O(1) time, O(1) color semi-synchronous algorithm to the asynchronous setting. The proposed algorithm is collision-free, i.e., robots do not share positions, and their paths do not cross. We also introduce a new technique for moving robots in an asynchronous setting that may be of independent interest, called Beacon-Directed Curve Positioning.

Publisher

MDPI AG

Subject

Computational Mathematics,Computational Theory and Mathematics,Numerical Analysis,Theoretical Computer Science

Reference38 articles.

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1. Distributed Uniform Partitioning of a Region using Opaque ASYNC Luminous Mobile Robots;Proceedings of the 25th International Conference on Distributed Computing and Networking;2024-01-04

2. Fault-tolerant Mutual Visibility for ASYNC Mobile Robots with Local Coordinate;2023 IEEE Guwahati Subsection Conference (GCON);2023-06-23

3. Mutual Visibility with ASYNC Luminous Robots Having Inaccurate Movements;Algorithmics of Wireless Networks;2023

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