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Optimal torus exploration by oblivious robots

Abstract : We deal with a team of autonomous robots that are endowed with motion actuators and visibility sensors. Those robots are weak and evolve in a discrete environment. By weak, we mean that they are anonymous, uniform, unable to explicitly communicate, and oblivious. We first show that it is impossible to solve the terminating exploration of a simple torus of arbitrary size with less than 4 or 5 such robots, respectively depending on whether the algorithm is probabilistic or deterministic. Next, we propose in the SSYNC model a probabilistic solution for the terminating exploration of torus-shaped networks of size ℓ×L, where 7≤ℓ≤L, by a team of 4 such weak robots. So, this algorithm is optimal w.r.t. the number of robots.
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Submitted on : Monday, December 23, 2019 - 3:11:29 PM
Last modification on : Tuesday, September 13, 2022 - 5:32:53 PM
Long-term archiving on: : Tuesday, March 24, 2020 - 2:54:56 PM


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Stéphane Devismes, Anissa Lamani, Franck Petit, Sébastien Tixeuil. Optimal torus exploration by oblivious robots. Computing, 2019, 101 (9), pp.1241-1264. ⟨10.1007/s00607-018-0595-8⟩. ⟨hal-02420598⟩



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