Subscribe to the gold package and get unlimited access to Shamra Academy
Register a new userEfficient Dispersion of Mobile Robots on Graphs
224
0
0.0
(
0
)
Added by
Ajay Kshemkalyani
Publication date
2018
fields
Informatics Engineering
and research's language is
English
Ask ChatGPT about the research
No Arabic abstract
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.
rate research
Read More
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.
RecentadvancesinDistributedComputinghighlightmodelsandalgo- rithms for autonomous swarms of mobile robots that self-organize and cooperate to solve global objectives. The overwhelming majority of works so far considers handmade algorithms and correctness proofs. This paper is the first to propose a formal framework to automatically design dis- tributed algorithms that are dedicated to autonomous mobile robots evolving in a discrete space. As a case study, we consider the problem of gathering all robots at a particular location, not known beforehand. Our contribution is threefold. First, we propose an encoding of the gathering problem as a reachability game. Then, we automatically generate an optimal distributed algorithm for three robots evolv- ing on a fixed size uniform ring. Finally, we prove by induction that the generated algorithm is also correct for any ring size except when an impossibility result holds (that is, when the number of robots divides the ring size).
We consider a swarm of $n$ autonomous mobile robots, distributed on a 2-dimensional grid. A basic task for such a swarm is the gathering process: All robots have to gather at one (not predefined) place. A common local model for extremely simple robots is the following: The robots do not have a common compass, only have a constant viewing radius, are autonomous and indistinguishable, can move at most a constant distance in each step, cannot communicate, are oblivious and do not have flags or states. The only gathering algorithm under this robot model, with known runtime bounds, needs $mathcal{O}(n^2)$ rounds and works in the Euclidean plane. The underlying time model for the algorithm is the fully synchronous $mathcal{FSYNC}$ model. On the other side, in the case of the 2-dimensional grid, the only known gathering algorithms for the same time and a similar local model additionally require a constant memory, states and flags to communicate these states to neighbors in viewing range. They gather in time $mathcal{O}(n)$. In this paper we contribute the (to the best of our knowledge) first gathering algorithm on the grid that works under the same simple local model as the above mentioned Euclidean plane strategy, i.e., without memory (oblivious), flags and states. We prove its correctness and an $mathcal{O}(n^2)$ time bound in the fully synchronous $mathcal{FSYNC}$ time model. This time bound matches the time bound of the best known algorithm for the Euclidean plane mentioned above. We say gathering is done if all robots are located within a $2times 2$ square, because in $mathcal{FSYNC}$ such configurations cannot be solved.
We consider the following variant of the two dimensional gathering problem for swarms of robots: Given a swarm of $n$ indistinguishable, point shaped robots on a two dimensional grid. Initially, the robots form a closed chain on the grid and must keep this connectivity during the whole process of their gathering. Connectivity means, that neighboring robots of the chain need to be positioned at the same or neighboring points of the grid. In our model, gathering means to keep shortening the chain until the robots are located inside a $2times 2$ subgrid. Our model is completely local (no global control, no global coordinates, no compass, no global communication or vision, ldots). Each robot can only see its next constant number of left and right neighbors on the chain. This fixed constant is called the emph{viewing path length}. All its operations and detections are restricted to this constant number of robots. Other robots, even if located at neighboring or the same grid point cannot be detected. Only based on the relative positions of its detectable chain neighbors, a robot can decide to obtain a certain state. Based on this state and their local knowledge, the robots do local modifications to the chain by moving to neighboring grid points without breaking the chain. These modifications are performed without the knowledge whether they lead to a global progress or not. We assume the fully synchronous $mathcal{FSYNC}$ model. For this problem, we present a gathering algorithm which needs linear time. This result generalizes the result from cite{hopper}, where an open chain with specified distinguishable (and fixed) endpoints is considered.
Inspired by the success of Googles Pregel, many systems have been developed recently for iterative computation over big graphs. These systems provide a user-friendly vertex-centric programming interface, where a programmer only needs to specify the behavior of one generic vertex when developing a parallel graph algorithm. However, most existing systems require the input graph to reside in memories of the machines in a cluster, and the few out-of-core systems suffer from problems such as poor efficiency for sparse computation workload, high demand on network bandwidth, and expensive cost incurred by external-memory join and group-by. In this paper, we introduce the GraphD system for a user to process very large graphs with ordinary computing resources. GraphD fully overlaps computation with communication, by streaming edges and messages on local disks, while transmitting messages in parallel. For a broad class of Pregel algorithms where message combiner is applicable, GraphD eliminates the need of any expensive external-memory join or group-by. These key techniques allow GraphD to achieve comparable performance to in-memory Pregel-like systems without keeping edges and messages in memories. We prove that to process a graph G=(V, E) with n machines using GraphD, each machine only requires O(|V|/n) memory space, allowing GraphD to scale to very large graphs with a small cluster. Extensive experiments show that GraphD beats existing out-of-core systems by orders of magnitude, and achieves comparable performance to in-memory systems running with enough memories.
Log in to be able to interact and post comments
comments
Fetching comments
Sign in to be able to follow your search criteria
