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

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

Content Provider	MDPI
Author	Sharma, Gokarna Vaidyanathan, Ramachandran Trahan, Jerry
Copyright Year	2021
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.
Starting Page	56
e-ISSN	19994893
DOI	10.3390/a14020056
Journal	Algorithms
Issue Number	2
Volume Number	14
Language	English
Publisher	MDPI
Publisher Date	2021-02-09
Access Restriction	Open
Subject Keyword	Algorithms Automotive Engineering Robotics Distributed Algorithms Autonomous Mobile Robots Robots with Lights Complete Visibility Collisions Convex Hull Obstruction Runtime
Content Type	Text
Resource Type	Article

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