Convergence with Limited Visibility by Asynchronous Mobile Robots

摘要

Consider a community of simple autonomous robots freely moving in the plane. The robots are decentralized, asynchronous, deterministic without the common coordination system, identities, direct communication, memory of the past, but with the ability to sense the positions of the other robots. This paper presents a distributed algorithm for the convergence problem with limited visibility in 1-bounded asynchrony. The presented algorithm also solves the convergence problem with unlimited visibility in full asynchrony without the need for the multiplicity detection.