Conic Formation in Presence of Faulty Robots

Conic Formation in Presence of Faulty Robots

Abstract

Pattern formation is one of the most fundamental problems in distributed computing, which has recently received much attention. In this paper, we initiate the study of distributed pattern formation in situations when some robots can be faulty. In particular, we consider the usual and challenging look-computemove model with oblivious, anonymous robots. We first present lower bounds and show that any deterministic algorithm takes at least two parallel rounds to form simple patterns in the presence of faulty robots. We then present distributed algorithms for our problem which match this bound, for conic sections: in two parallel rounds, robots form lines, circles, parabola, and ellipses while tolerating f = 2, f = 3, f = 4, and f = 5 faults, respectively. We show that the resulting pattern includes the f faulty robots in the pattern of n robots, where n ≥ 2f + 1, and that f < n < 2f + 1 robots cannot form such patterns. We conclude by discussing several relaxations and extensions.

Grafik Top
Authors
  • Pattanayak, Debasish
  • Foerster, Klaus-Tycho
  • Partha Sarathi, Mandal
  • Schmid, Stefan
Grafik Top
Supplemental Material
Shortfacts
Category
Paper in Conference Proceedings or in Workshop Proceedings (Paper)
Event Title
16th International Symposium on Algorithms and Experiments for Wireless Sensor Networks, ALGOSENSORS 2020
Divisions
Communication Technologies
Subjects
Theoretische Informatik
Event Location
Pisa, Italy
Event Type
Conference
Event Dates
9-10 Sep 2020
Date
September 2020
Export
Grafik Top