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Register a new userCircle Formation of Weak Robots and Lyndon Words
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Added by
Franck Petit
Publication date
2006
fields
Informatics Engineering
and research's language is
English
Authors
Yoann Dieudonne
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No Arabic abstract
A Lyndon word is a non-empty word strictly smaller in the lexicographic order than any of its suffixes, except itself and the empty word. In this paper, we show how Lyndon words can be used in the distributed control of a set of n weak mobile robots. By weak, we mean that the robots are anonymous, memoryless, without any common sense of direction, and unable to communicate in an other way than observation. An efficient and simple deterministic protocol to form a regular n-gon is presented and proven for n prime.
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In this paper, we extend the notion of Lyndon word to transfinite words. We prove two main results. We first show that, given a transfinite word, there exists a unique factorization in Lyndon words that are densely non-increasing, a relaxation of the condition used in the case of finite words. In the annex, we prove that the factorization of a rational word has a special form and that it can be computed from a rational expression describing the word.
A generalized lexicographical order on infinite words is defined by choosing for each position a total order on the alphabet. This allows to define generalized Lyndon words. Every word in the free monoid can be factorized in a unique way as a nonincreasing factorization of generalized Lyndon words. We give new characterizations of the first and the last factor in this factorization as well as new characterization of generalized Lyndon words. We also give more specific results on two special cases: the classical one and the one arising from the alternating lexicographical order.
In this paper, we first formalize the problem to be solved, i.e., the Scatter Problem (SP). We then show that SP cannot be deterministically solved. Next, we propose a randomized algorithm for this problem. The proposed solution is trivially self-stabilizing. We then show how to design a self-stabilizing version of any deterministic solution for the Pattern Formation and the Gathering problems.
In this paper we compare two finite words $u$ and $v$ by the lexicographical order of the infinite words $u^omega$ and $v^omega$. Informally, we say that we compare $u$ and $v$ by the infinite order. We show several properties of Lyndon words expressed using this infinite order. The innovative aspect of this approach is that it allows to take into account also non trivial conditions on the prefixes of a word, instead that only on the suffixes. In particular, we derive a result of Ufnarovskij [V. Ufnarovskij, Combinatorial and asymptotic methods in algebra, 1995] that characterizes a Lyndon word as a word which is greater, with respect to the infinite order, than all its prefixes. Motivated by this result, we introduce the prefix standard permutation of a Lyndon word and the corresponding (left) Cartesian tree. We prove that the left Cartesian tree is equal to the left Lyndon tree, defined by the left standard factorization of Viennot [G. Viennot, Alg`ebres de Lie libres et monoides libres, 1978]. This result is dual with respect to a theorem of Hohlweg and Reutenauer [C. Hohlweg and C. Reutenauer, Lyndon words, permutations and trees, 2003].
We study the convergence problem in fully asynchronous, uni-dimensional robot networks that are prone to Byzantine (i.e. malicious) failures. In these settings, oblivious anonymous robots with arbitrary initial positions are required to eventually converge to an a apriori unknown position despite a subset of them exhibiting Byzantine behavior. Our contribution is twofold. We propose a deterministic algorithm that solves the problem in the most generic settings: fully asynchronous robots that operate in the non-atomic CORDA model. Our algorithm provides convergence in 5f+1-sized networks where f is the upper bound on the number of Byzantine robots. Additionally, we prove that 5f+1 is a lower bound whenever robot scheduling is fully asynchronous. This constrasts with previous results in partially synchronous robots networks, where 3f+1 robots are necessary and sufficient.
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