A Randomized Gathering Algorithm for Multiple Robots with Limited Sensing Capabilities

Noam Gordon, Israel A. Wagner, Alfred M. Bruckstein

Abstract

Consider a swarm of weak, anonymous and homogeneous robots lacking memory, orientation, and communication capabilities, and having myopic sensors that tell them the directions to nearby robots, but not the distance from them. We present a simple randomized algorithm which, when performed by all members of the swarm, gathers them in a small region. We explore the interesting global phenomena that occur during the process, evident from our analysis and simulations.

References

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Paper Citation


in Harvard Style

Gordon N., A. Wagner I. and M. Bruckstein A. (2005). A Randomized Gathering Algorithm for Multiple Robots with Limited Sensing Capabilities . In Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2005) ISBN 972-8865-34-1, pages 56-63. DOI: 10.5220/0001194500560063


in Bibtex Style

@conference{mars05,
author={Noam Gordon and Israel A. Wagner and Alfred M. Bruckstein},
title={A Randomized Gathering Algorithm for Multiple Robots with Limited Sensing Capabilities},
booktitle={Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2005)},
year={2005},
pages={56-63},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001194500560063},
isbn={972-8865-34-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2005)
TI - A Randomized Gathering Algorithm for Multiple Robots with Limited Sensing Capabilities
SN - 972-8865-34-1
AU - Gordon N.
AU - A. Wagner I.
AU - M. Bruckstein A.
PY - 2005
SP - 56
EP - 63
DO - 10.5220/0001194500560063