Discrete Time Gathering of Agents with Bearing Only and Limited Visibility Range Sensors

Rotem Manor, Alfred M Bruckstein

Research output: Book/ReportReport

Abstract

We analyze a gathering process for a group of mobile robotic agents, identical and indistinguishable, with no memory (oblivious) and no common frame of reference (neither absolute location nor a common orientation). The agents are assumed to have bearing only sensing within a limited visibility range. We prove that such robots can gather to a small disk in the R 2-plane within a finite expected number of time-steps, implementing a randomized visibility preserving motion law. In addition, we analyze the dynamics of the cluster of agents after gathering, and show that the agent-cluster preforms a random-walk in the plane.
Original languageAmerican English
StatePublished - 2016

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