We consider a swarm of simple ant-robots (or a(ge)nts) on the plane, which are anonymous, homogeneous, memoryless and lack communication capabilities. Their sensors are range-limited and they are unable to measure distances. Rather, they can only acquire the directions to their neighbors. We propose a simple algorithm, which makes them gather in a small region or a point. We discuss three variants of the problem: A continuous-space discrete-time problem, a continuous-time limit of that problem, and a discrete-space discrete-time analog. Using both analysis and simulations, we show that, interestingly, the system's global behavior in the continuous-time limit is fundamentally different from that of the discrete-time case, due to hidden "Zenoness" in it. © 2004 Springer-Verlag.
CITATION STYLE
Gordon, N., Wagner, I. A., & Bruckstein, A. M. (2004). Gathering multiple robotic a(ge)nts with limited sensing capabilities. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 3172 LNCS, pp. 142–153). Springer Verlag. https://doi.org/10.1007/978-3-540-28646-2_13
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