# Connectivity-Preserving Scattering of Mobile Robots with Limited Visibility

2 Regal - Large-Scale Distributed Systems and Applications
LIP6 - Laboratoire d'Informatique de Paris 6, Inria Paris-Rocquencourt
3 NPA - Networks and Performance Analysis
LIP6 - Laboratoire d'Informatique de Paris 6
Abstract : The scattering problem is a fundamental task for mobile robots, which requires that no two robots share the same position. We investigate the scattering problem in the limited-visibility model. In particular, we focus on connectivity-preservation property. That is, the scattering must be achieved so that the disconnection of the visibility graph never occurs (in the visibility graph robots are the nodes of the graph and the edges are their visibility relationship). The algorithm we propose assumes ATOM (i.e. semi-synchronous) model. In these settings our algorithm guarantees the connectivity-preserving property, and reaches a scattered configuration within $O( min \{n, D^2 + \log{n}\})$ asynchronous rounds in expectation, where $D$ is the diameter of the initial visibility graph. Note that the complexity analysis is adaptive since it depends on $D$. This implies that our algorithm quickly scatters all robots crowded in a small-diameter visibility graph. We also provide a lower bound of $\Omega(n)$ for connectivity-preserving scattering. It follows that our algorithm is optimal in the sense of the non-adaptive analysis.
Type de document :
Communication dans un congrès
SSS, Sep 2010, New York, NY, United States. Springer, SSS, 6366, pp.319-331, Lecture Notes in Computer Science. 〈10.1007/978-3-642-16023-3_27〉
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https://hal.archives-ouvertes.fr/hal-01293837
Contributeur : Lip6 Publications <>
Soumis le : vendredi 25 mars 2016 - 15:16:58
Dernière modification le : vendredi 25 mai 2018 - 12:02:04

### Citation

Taisuke Izumi, Maria Gradinariu Potop-Butucaru, Sébastien Tixeuil. Connectivity-Preserving Scattering of Mobile Robots with Limited Visibility. SSS, Sep 2010, New York, NY, United States. Springer, SSS, 6366, pp.319-331, Lecture Notes in Computer Science. 〈10.1007/978-3-642-16023-3_27〉. 〈hal-01293837〉

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