Synchronous Gathering without Multiplicity Detection: a Certified Algorithm

In mobile robotic swarms, the gathering problem consists in coordinating all the robots so that in finite time they occupy the same location, not known beforehand. Multiplicity detection refers to the ability to detect that more than one robot can occupy a given position. When the robotic swarm oper...

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Veröffentlicht in:Theory of computing systems Jg. 63; H. 2; S. 200 - 218
Hauptverfasser: Balabonski, Thibaut, Delga, Amélie, Rieg, Lionel, Tixeuil, Sébastien, Urbain, Xavier
Format: Journal Article
Sprache:Englisch
Veröffentlicht: New York Springer US 01.02.2019
Springer Nature B.V
Springer Verlag
Schlagworte:
Algorithms
Computer Science
Distributed, Parallel, and Cluster Computing
Logic in Computer Science
Robots
Safety
Security of Distributed Systems (SSS 2016)
Special Issue on Stabilization
Studies
Theory of Computation
Proof assistant
Gathering
Mobile robots
Certification
Multiplicity detection
ISSN:1432-4350, 1433-0490
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Zusammenfassung:In mobile robotic swarms, the gathering problem consists in coordinating all the robots so that in finite time they occupy the same location, not known beforehand. Multiplicity detection refers to the ability to detect that more than one robot can occupy a given position. When the robotic swarm operates synchronously, a well-known result by Cohen and Peleg permits to achieve gathering, provided robots are capable of multiplicity detection. We present a new algorithm for synchronous gathering, that does not assume that robots are capable of multiplicity detection, nor make any other extra assumption. Unlike previous approaches, the correctness of our proof is certified in the model where the protocol is defined, using the Coq proof assistant.
Bibliographie:ObjectType-Article-1
SourceType-Scholarly Journals-1
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content type line 14
ISSN:1432-4350
1433-0490
DOI:10.1007/s00224-017-9828-z