Convergence Properties of the Gravitational Algorithm in Asynchronous Robot Systems

This paper considers the convergence problem in autonomous mobile robot systems. A natural algorithm for the problem requires the robots to move towards their center of gravity. This paper proves the correctness of the gravitational algorithm in the fully asynchronous model. It also analyzes its con...

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Bibliographic Details
Published inSIAM journal on computing Vol. 34; no. 6; pp. 1516 - 1528
Main Authors Cohen, Reuven, Peleg, David
Format Journal Article
LanguageEnglish
Published Philadelphia, PA Society for Industrial and Applied Mathematics 01.01.2005
Subjects
Algorithmics. Computability. Computer arithmetics
Applied mathematics
Applied sciences
Computer science; control theory; systems
Control algorithms
Control theory. Systems
Exact sciences and technology
Gravity
Robotics
Robots
Theoretical computing
Autonomous system
70B15
Moving robot
robot swarms
Convergence rate
Gravitational algorithm
autonomous mobile robots
Robot
convergence 68Q22
Convergence
Gravity
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ISSN0097-5397
1095-7111
DOI10.1137/S0097539704446475

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Summary:This paper considers the convergence problem in autonomous mobile robot systems. A natural algorithm for the problem requires the robots to move towards their center of gravity. This paper proves the correctness of the gravitational algorithm in the fully asynchronous model. It also analyzes its convergence rate and establishes its convergence in the presence of crash faults.
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ISSN:0097-5397
1095-7111
DOI:10.1137/S0097539704446475