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JACIII Vol.18 No.3 pp. 315-319
doi: 10.20965/jaciii.2014.p0315
(2014)

Paper:

Surrounding Robots – A Discrete Localized Solution for the Intruder Problem –

László Blázovics*, Tamás Lukovszki**, and Bertalan Forstner*

*Department of Automation and Applied Informatics, Faculty of Electrical Engineering and Informatics, Budapest University of Technology and Economics, Magyar Tudósok körútja 2., 1117 Budapest, Hungary

**Faculty of Informatics, Eötvös Lóránd University, Pázmány Péter sétány 1/C 1117 Budapest, Hungary

Received:
February 21, 2013
Accepted:
September 24, 2013
Published:
May 20, 2014
Keywords:
mobile robots, localized algorithms, synchronous model
Abstract

Decentralized algorithms are often used in the cooperative robotics field, especially by large swarm systems. We present a distributed algorithm for a problem in which a group of autonomous mobile robots must surround a given target. These robots are oblivious, i.e., they have no memory of the past. They use only local sensing and need no dedicated communication among themselves. We introduce, then solve the problem in which the group of autonomous mobile robots must surround a given target – we call it the “discrete multiorbit target surrounding problem” (DMTSP). We evaluate our solution using simulation and prove that our solution invariably ensures that robots enclose the target in finite time.

Cite this article as:
L. Blázovics, T. Lukovszki, and B. Forstner, “Surrounding Robots – A Discrete Localized Solution for the Intruder Problem –,” J. Adv. Comput. Intell. Intell. Inform., Vol.18, No.3, pp. 315-319, 2014.
Data files:
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Last updated on Nov. 15, 2018