Optimum gathering of asynchronous robots

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Conference Article

Publication Title

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)


This paper considers the problem of gathering a set of asynchronous robots on the two dimensional plane under the additional requirement that the maximum distance traversed by the robots should be minimized. One of the implications of this optimization criteria is the energy efficiency for the robots. The results of this paper are two folds. First, it is proved that multiplicity detection capability is not sufficient to solve the constrained gathering problem for a set of oblivious robots even when the robots are fully synchronous. The problem is then studied for the robots having O(1) bits persistent memory and a distributed algorithm is proposed for the problem in this model for a set of n ≥ 5 robots. The proposed algorithm uses only two bits of persistent memory.

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