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分類 国際会議
著者名 (author) Yuichi Asahiro,Satoshi Fujita,Ichiro Suzuki,Masafumi Yamashita
英文著者名 (author)
編者名 (editor)
編者名 (英文)
キー (key)
表題 (title) A Self-stabilizing Marching Algorithm for a Group of Oblivious Robots
表題 (英文)
書籍・会議録表題 (booktitle) Proc. OPODIS 2008
巻数 (volume)
号数 (number)
ページ範囲 (pages) 125-144
組織名 (organization)
出版元 (publisher)
出版元 (英文)
出版社住所 (address)
刊行月 (month) December
出版年 (year) 2008
付加情報 (note)
注釈 (annote)
内容梗概 (abstract) We propose a self-stabilizing marching algorithm for a group of oblivious robots in an obstacle-free workplace. To this end, we develop a distributed algorithm for a group of robots to transport a polygonal object, where each robot holds the object at a corner, and observe that each robot can simulate the algorithm, even after we replace the object by an imaginary one; we thus can use the algorithm as a marching algorithm. Each robot independently computes a velocity vector using the algorithm, moves to a new position with the velocity for a unit of time, and repeats this cycle until it reaches the goal position. The algorithm is oblivious, i.e., the computation depends only on the current robot configuration, and is constructed from a naive algorithm that generates only a selfish move, by adding two simple ingredients. For the case of two robots, we theoretically show that the algorithm is self-stabilizing, and demonstrate by simulations that the algorithm produces a motion that is fairly close to the time-optimal motion. For cases of more than two robots, we show that a natural extension of the algorithm for two robots also produces smooth and elegant motions by simulations as well.
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[1-101]  Yuichi Asahiro, Satoshi Fujita, Ichiro Suzuki, and Masafumi Yamashita, ``A Self-Stabilizing Marching Algorithm for a Group of Oblivious Robots,'' In Proc. OPODIS 2008, pp. 125-144, December 2008.

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