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Register a new userOn the Self-stabilization of Mobile Robots in Graphs
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Added by
Sebastien Tixeuil
Publication date
2007
fields
Informatics Engineering
and research's language is
English
Authors
Lelia Blin
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Self-stabilization is a versatile technique to withstand any transient fault in a distributed system. Mobile robots (or agents) are one of the emerging trends in distributed computing as they mimic autonomous biologic entities. The contribution of this paper is threefold. First, we present a new model for studying mobile entities in networks subject to transient faults. Our model differs from the classical robot model because robots have constraints about the paths they are allowed to follow, and from the classical agent model because the number of agents remains fixed throughout the execution of the protocol. Second, in this model, we study the possibility of designing self-stabilizing algorithms when those algorithms are run by mobile robots (or agents) evolving on a graph. We concentrate on the core building blocks of robot and agents problems: naming and leader election. Not surprisingly, when no constraints are given on the network graph topology and local execution model, both problems are impossible to solve. Finally, using minimal hypothesis with respect to impossibility results, we provide deterministic and probabilistic solutions to both problems, and show equivalence of these problems by an algorithmic reduction mechanism.
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The dispersion problem on graphs requires $k$ robots placed arbitrarily at the $n$ nodes of an anonymous graph, where $k leq n$, to coordinate with each other to reach a final configuration in which each robot is at a distinct node of the graph. The dispersion problem is important due to its relationship to graph exploration by mobile robots, scattering on a graph, and load balancing on a graph. In addition, an intrinsic application of dispersion has been shown to be the relocation of self-driven electric cars (robots) to recharge stations (nodes). We propose three efficient algorithms to solve dispersion on graphs. Our algorithms require $O(k log Delta)$ bits at each robot, and $O(m)$ steps running time, where $m$ is the number of edges and $Delta$ is the degree of the graph. The algorithms differ in whether they address the synchronous or the asynchronous system model, and in what, where, and how data structures are maintained.
Gathering is a fundamental coordination problem in cooperative mobile robotics. In short, given a set of robots with arbitrary initial locations and no initial agreement on a global coordinate system, gathering requires that all robots, following their algorithm, reach the exact same but not predetermined location. Gathering is particularly challenging in networks where robots are oblivious (i.e., stateless) and direct communication is replaced by observations on their respective locations. Interestingly any algorithm that solves gathering with oblivious robots is inherently self-stabilizing if no specific assumption is made on the initial distribution of the robots. In this paper, we significantly extend the studies of de-terministic gathering feasibility under different assumptions This manuscript considerably extends preliminary results presented as an extended abstract at the DISC 2006 conference [7]. The current version is under review at Distributed Computing Journal since February 2012 (in a previous form) and since 2014 in the current form. The most important results have been also presented in MAC 2010 organized in Ottawa from August 15th to 17th 2010 related to synchrony and faults (crash and Byzantine). Unlike prior work, we consider a larger set of scheduling strategies, such as bounded schedulers. In addition, we extend our study to the feasibility of probabilistic self-stabilizing gathering in both fault-free and fault-prone environments.
We consider the problem of scattering $n$ robots in a two dimensional continuous space. As this problem is impossible to solve in a deterministic manner, all solutions must be probabilistic. We investigate the amount of randomness (that is, the number of random bits used by the robots) that is required to achieve scattering. We first prove that $n log n$ random bits are necessary to scatter $n$ robots in any setting. Also, we give a sufficient condition for a scattering algorithm to be random bit optimal. As it turns out that previous solutions for scattering satisfy our condition, they are hence proved random bit optimal for the scattering problem. Then, we investigate the time complexity of scattering when strong multiplicity detection is not available. We prove that such algorithms cannot converge in constant time in the general case and in $o(log log n)$ rounds for random bits optimal scattering algorithms. However, we present a family of scattering algorithms that converge as fast as needed without using multiplicity detection. Also, we put forward a specific protocol of this family that is random bit optimal ($n log n$ random bits are used) and time optimal ($log log n$ rounds are used). This improves the time complexity of previous results in the same setting by a $log n$ factor. Aside from characterizing the random bit complexity of mobile robot scattering, our study also closes its time complexity gap with and without strong multiplicity detection (that is, $O(1)$ time complexity is only achievable when strong multiplicity detection is available, and it is possible to approach it as needed otherwise).
We investigate graph problems in the following setting: we are given a graph $G$ and we are required to solve a problem on $G^2$. While we focus mostly on exploring this theme in the distributed CONGEST model, we show new results and surprising connections to the centralized model of computation. In the CONGEST model, it is natural to expect that problems on $G^2$ would be quite difficult to solve efficiently on $G$, due to congestion. However, we show that the picture is both more complicated and more interesting. Specifically, we encounter two phenomena acting in opposing directions: (i) slowdown due to congestion and (ii) speedup due to structural properties of $G^2$. We demonstrate these two phenomena via two fundamental graph problems, namely, Minimum Vertex Cover (MVC) and Minimum Dominating Set (MDS). Among our many contributions, the highlights are the following. - In the CONGEST model, we show an $O(n/epsilon)$-round $(1+epsilon)$-approximation algorithm for MVC on $G^2$, while no $o(n^2)$-round algorithm is known for any better-than-2 approximation for MVC on $G$. - We show a centralized polynomial time $5/3$-approximation algorithm for MVC on $G^2$, whereas a better-than-2 approximation is UGC-hard for $G$. - In contrast, for MDS, in the CONGEST model, we show an $tilde{Omega}(n^2)$ lower bound for a constant approximation factor for MDS on $G^2$, whereas an $Omega(n^2)$ lower bound for MDS on $G$ is known only for exact computation. In addition to these highlighted results, we prove a number of other results in the distributed CONGEST model including an $tilde{Omega}(n^2)$ lower bound for computing an exact solution to MVC on $G^2$, a conditional hardness result for obtaining a $(1+epsilon)$-approximation to MVC on $G^2$, and an $O(log Delta)$-approximation to the MDS problem on $G^2$ in $mbox{poly}log n$ rounds.
We propose a framework to build formal developments for robot networks using the COQ proof assistant, to state and to prove formally various properties. We focus in this paper on impossibility proofs, as it is natural to take advantage of the COQ higher order calculus to reason about algorithms as abstract objects. We present in particular formal proofs of two impossibility results forconvergence of oblivious mobile robots if respectively more than one half and more than one third of the robots exhibit Byzantine failures, starting from the original theorems by Bouzid et al.. Thanks to our formalization, the corresponding COQ developments are quite compact. To our knowledge, these are the first certified (in the sense of formally proved) impossibility results for robot networks.
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