NDLI: Fault-Tolerant Gathering of Mobile Robots with Weak Multiplicity Detection

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Fault-Tolerant Gathering of Mobile Robots with Weak Multiplicity Detection

Content Provider	ACM Digital Library
Author	Pattanayak, Debasish Mondal, Kaushik Mandal, Partha Sarathi Ramesh, H.
Abstract	There has been a wide interest in designing distributed algorithms for tiny robots. In particular, it has been shown that the robots can complete certain tasks even in the presence of faulty robots. In this paper, we focus on gathering of all non-faulty robots at a single point in presence of faulty robots. We propose a wait-free algorithm (i.e., no robot waits for other robots and algorithm instructs each robot to move in every step, unless it is already at the gathering location), that gathers all non-faulty robots in the semi-synchronous model without any agreement about the coordinate system and with weak multiplicity detection (i.e., a robot can detect if there are more than one robots at a point, but not their exact number) in the presence of at most n - 1 faulty robots for n ≥ 3. We show that the required capability for gathering robots is minimal in the above model, since relaxing it further makes gathering impossible to solve. Also, we introduce an intermediate scheduling model in between the asynchronous (i.e., no instantaneous movement or computation) and the semi-synchronous (i.e., both instantaneous movement and computation) as ASYNCIC, the asynchronous model with instantaneous computation. Then we propose another algorithm in ASYNCIC model for gathering all non-faulty robots with weak multiplicity detection without any agreement on the coordinate system in the presence of at most ⌊n/2⌋-2 faulty robots for n ≥ 7 starting from any configuration with at most one multiplicity excluding C* (0), C* (1/k), C* (1/2) and C* (1/2 + 1/k).
Starting Page	1
Ending Page	4
Page Count	4
File Format	PDF
ISBN	9781450348393
DOI	10.1145/3007748.3007786
Language	English
Publisher	Association for Computing Machinery (ACM)
Publisher Date	2017-01-05
Publisher Place	New York
Access Restriction	Subscribed
Subject Keyword	Fault-tolerance Gathering Oblivious mobile robots
Content Type	Text
Resource Type	Article

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