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The Random Bit Complexity of Mobile Robots Scattering [article]

Quentin Bramas
2015 arXiv   pre-print
Aside from characterizing the random bit complexity of mobile robot scattering, our study also closes its time complexity gap with and without strong multiplicity detection (that is, O(1) time complexity  ...  We investigate the amount of randomness (that is, the number of random bits used by the robots) that is required to achieve scattering.  ...  The Random Bit Complexity of Scattering In this section we demonstrate that any mobile robots scattering algorithm must use at least n log(n) random bits, whether or not it uses multiplicity detection.  ... 
arXiv:1309.6603v2 fatcat:jsrtxwpmtbgbbnsdpmhtjwj2yi

The Random Bit Complexity of Mobile Robots Scattering [chapter]

Quentin Bramas, Sébastien Tixeuil
2015 Lecture Notes in Computer Science  
We investigate the amount of randomness (that is, the number of random bits used by the robots) that is necessary to achieve scattering.  ...  We first prove that n log n random bits are necessary to scatter n robots in any setting. Also, we give a sufficient condition for a scattering algorithm to be random bit optimal.  ...  Concluding Remarks We investigated the random bit complexity of mobile robot scattering and gave necessary and sufficient conditions for both (expected) random bit complexity and time complexity.  ... 
doi:10.1007/978-3-319-19662-6_15 fatcat:xdalcyrp7vd6fcxfhp5d2eyv5q

The Random Bit Complexity of Mobile Robots Scattering

Quentin Bramas, Sébastien Tixeuil
2017 International Journal of Foundations of Computer Science  
We investigate the amount of randomness (that is, the number of random bits used by the robots) that is necessary to achieve scattering.  ...  We first prove that n log n random bits are necessary to scatter n robots in any setting. Also, we give a sufficient condition for a scattering algorithm to be random bit optimal.  ...  Concluding Remarks We investigated the random bit complexity of mobile robot scattering and gave necessary and sufficient conditions for both (expected) random bit complexity and time complexity.  ... 
doi:10.1142/s0129054117500083 fatcat:3itnm6jzbvgdhiup2zrt7mls2a

Dispersion of Mobile Robots: The Power of Randomness [chapter]

Anisur Rahaman Molla, William K. Moses
2019 Lecture Notes in Computer Science  
In this paper, we show that by harnessing the power of randomness, one can achieve dispersion with O(Δ) bits of memory at each robot, where Δ is the maximum degree of the graph.  ...  We consider cooperation among insects, modeled as cooperation between mobile robots on a graph. Within this setting, we consider the problem of mobile robot dispersion on graphs.  ...  In particular, our randomized algorithms reduce the memory requirement from O(log n) bits to O(log ∆) bits and the time complexity remains same or is faster (in some cases).  ... 
doi:10.1007/978-3-030-14812-6_30 fatcat:ylkbxkbcwfaypjd5wvlm6mkhlm

Gathering and Election by Mobile Robots in a Continuous Cycle

Paola Flocchini, Ryan Killick, Evangelos Kranakis, Nicola Santoro, Masafumi Yamashita, Michael Wagner
2019 International Symposium on Algorithms and Computation  
Cost of the algorithms is analyzed with respect to time and number of random bits.  ...  Consider a set of n mobile computational entities, called robots, located and operating on a continuous cycle C (e.g., the perimeter of a closed region of R 2 ) of arbitrary length .  ...  The costs of a solution algorithm are evaluated with respect to two measures: 1) time complexity -the time until the algorithm terminates; and 2) random-bit complexity -the total number of random bits/  ... 
doi:10.4230/lipics.isaac.2019.8 dblp:conf/isaac/FlocchiniKKSY19 fatcat:43b5356bqjdpjn6tivwhomipq4

A New Classification Technique in Mobile Robot Navigation

Siti Nurmaini, Bambang Tutuko
2011 TELKOMNIKA (Telecommunication Computing Electronics and Control)  
to judge the situation around the mobile robot environment and makes control decision in mobile robot navigation.  ...  Experimental result shows, when number of neuron increases the average environmental recognition ratehas risen from 87.6% to 98.5%.The WNNs technique allows the mobile robot to recognize many and different  ...  This strategy is used as the navigational control of the mobile robot. This research considers WNNs technique in mobile robot navigation to be applied to complex real environment.  ... 
doi:10.12928/telkomnika.v9i3.736 fatcat:7llk6gt27zev3i4bpa7g2abwmq

Simple Pyramid RAM-Based Neural Network Architecture for Localization of Swarm Robots

2015 Journal of Information Processing Systems  
Especially in the case of multi-robotic applications, localization is the process for determining the positions of robots and targets in an unknown environment.  ...  However, these sensors produce a large amount of computational resources to process complex algorithms, because the process requires environmental mapping.  ...  Acknowledgement This research is supported by the Robotic and Control Research Lab of the Computer Engineering Department in the Faculty of Computer Science at Sriwijaya University.  ... 
doi:10.3745/jips.01.0008 fatcat:zjvsfrqad5bz5jr7vc5eob7omm

Research for Multi-sensor Information Fusion Algorithm of Search and Rescue Robot Based on Embedded Control Network

Peng Wang, Wenhao Jiang, Xin Li, Shaochen Kang, Jinglei Xin
2012 Journal of Computers  
Through simulation test experiment, the robot search traversal ability is verified under unstructured environment.  ...  What's more, Adaboost algorithm realizes the multi-sensor information optimal fusion.  ...  The authors would like to thank Harbin University of Science and Technology for supporting this work.  ... 
doi:10.4304/jcp.7.5.1176-1183 fatcat:tgsz4vxi3vhclgzuiutequ5cpm

Efficient Dispersion on an Anonymous Ring in the Presence of Weak Byzantine Robots [article]

Anisur Rahaman Molla, Kaushik Mondal, William K. Moses Jr
2020 arXiv   pre-print
The problem of dispersion of mobile robots on a graph asks that n robots initially placed arbitrarily on the nodes of an n-node anonymous graph, autonomously move to reach a final configuration where exactly  ...  We then study the problem on a ring while simultaneously optimizing the time complexity of algorithms and the memory requirement per robot.  ...  Randomized algorithms are presented in [37] where random bits are mainly used to break the memory requirement of Ω(log n) bits per robot.  ... 
arXiv:2004.11439v2 fatcat:5sld7jfpgzfb7hlwj35yfhllii

Evolving spiking neural network controllers for autonomous robots

H. Hagras, A. Pounds-Cornish, M. Colley, V. Callaghan, G. Clarke
2004 IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004  
In this paper we present the use and benefits of SNNs for mobile robot control. We also present an adaptive Genetic Algorithm (GA) to evolve the weights of the SNNs online using real robots.  ...  We have performed many experiments using real mobile robots to test the evolved SNNs in which the SNNs provided a good response.  ...  ACKNOWLEDGMENT We are pleased to acknowledge the funding support from the EU Future and Emerging Technology programme for the project entitled "Self-Organised Societies of Connectionist Intelligent Agents  ... 
doi:10.1109/robot.2004.1302446 dblp:conf/icra/HagrasPCCC04 fatcat:ug6kzk7w7zgqhphsrsvcmfjty4

Randomized Gathering of Asynchronous Mobile Robots [article]

Debasish Pattanayak, John Augustine, Partha Sarathi Mandal
2019 arXiv   pre-print
The adversary comes in two flavors, namely, oblivious and adaptive, based on the knowledge of the outcome of random bits. The robots follow wait-look-compute-move cycle.  ...  This paper revisits the widely researched gathering problem for two robots in a scenario which allows randomization in the asynchronous scheduling model.  ...  Each look corresponds to a choice of λ value, which also signifies the random bit complexity of the process as a whole.  ... 
arXiv:1909.10004v1 fatcat:rdo6amjrpzc4hgyuk45hsenf5u

Memory Optimal Dispersion by Anonymous Mobile Robots [article]

Archak Das, Kaustav Bose, Buddhadeb Sau
2020 arXiv   pre-print
However, the problem can be solved even by anonymous robots if each robot is given access to a fair coin which they can use to generate random bits.  ...  Consider a team of k ≤ n autonomous mobile robots initially placed at a node of an arbitrary graph G with n nodes.  ...  The first two authors are supported by UGC, Govt. of India, and NBHM DAE, Govt. of India respectively.  ... 
arXiv:2008.00701v2 fatcat:pjgrpz7qenc4dpdyorc4y2dn7i

A Comprehensive Review of Sensor Relocation

Wei Shi, Jean-Pierre Corriveau
2010 2010 IEEE/ACM Int'l Conference on Green Computing and Communications & Int'l Conference on Cyber, Physical and Social Computing  
In this paper, recent literature pertaining to the sensor relocation problem is reviewed. Different proposed solutions are categorized, summarized and compared.  ...  algorithms using random mobile sensor or robot movements. • Usage of proxy: it is known that it costs a mobile sensor about 30J to move one meter, but it only costs the mobile sensor about 0.1J to send  ...  Contrary to R3S2 in which robots travel at random if free, in G-R3S2 the movement of a free robot is restricted to a grid.  ... 
doi:10.1109/greencom-cpscom.2010.42 dblp:conf/greencom/ShiC10 fatcat:xa2lkxkzsrfsjj7izhmeidhwhu

Dispersion of Mobile Robots in the Global Communication Model [article]

Ajay D. Kshemkalyani and Anisur Rahaman Molla and Gokarna Sharma
2019 arXiv   pre-print
This problem is of significant interest due to its relationship to other fundamental robot coordination problems, such as exploration, scattering, load balancing etc.  ...  The second algorithm for arbitrary graphs is based on a BFS traversal and guarantees O( max(D,k) Δ (D+Δ)) steps runtime using O(max(D,Δlog k)) bits at each robot, where D is the diameter of the graph.  ...  Randomized algorithms are presented in [21] to solve D where the random bits are mainly used to reduce the memory requirement at each robot.  ... 
arXiv:1909.01957v1 fatcat:rkeykgxmwndyln45hjidzolsfm

Natural terrain classification using three-dimensional ladar data for ground robot mobility

Jean-François Lalonde, Nicolas Vandapel, Daniel F. Huber, Martial Hebert
2006 Journal of Field Robotics  
We present the details of the proposed method, and the modifications we made to implement it on-board an autonomous ground vehicle for real-time data processing.  ...  In this paper, we focus on the segmentation of ladar data into three classes using local three-dimensional point cloud statistics.  ...  Acknowledgments This work was conducted through collaborative participation in the Robotics Consortium sponsored by the U.S Army Research Laboratory under the Collaborative Technology Alliance Program,  ... 
doi:10.1002/rob.20134 fatcat:gqcy4y34kjdehb7v4lfv77clyu
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