Skip to main content
We gratefully acknowledge support from the Simons Foundation, member institutions, and all contributors. Donate
arXiv logo
Cornell University Logo

Computer Science > Robotics

arXiv:2206.07416 (cs)
[Submitted on 15 Jun 2022]

Title:Mutual Visibility by Fat Robots with Slim Omnidirectional Camera

Authors:Kaustav Bose, Abhinav Chakraborty, Krishnendu Mukhopadhyaya
View PDF
Abstract:In the existing literature of the Mutual Visibility problem for autonomous robot swarms, the adopted visibility models have some idealistic assumptions that are not consistent with practical sensing device implementations. This paper investigates the problem in the more realistic visibility model called opaque fat robots with slim omnidirectional camera. The robots are modeled as unit disks, each having an omnidirectional camera represented as a disk of smaller size. We assume that the robots have compasses that allow agreement in the direction and orientation of both axes of their local coordinate systems. The robots are equipped with visible lights which serve as a medium of communication and also as a form of memory. We present a distributed algorithm for the Mutual Visibility problem which is provably correct in the semi-synchronous setting. Our algorithm also provides a solution for Leader Election which we use as a subroutine in our main algorithm. Although Leader Election is trivial with two axis agreement in the full visibility model, it is challenging in our case and is of independent interest.
Subjects: Robotics (cs.RO); Computational Geometry (cs.CG); Distributed, Parallel, and Cluster Computing (cs.DC)
Cite as: arXiv:2206.07416 [cs.RO]
  (or arXiv:2206.07416v1 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2206.07416

Submission history

From: Kaustav Bose [view email]
[v1] Wed, 15 Jun 2022 09:38:46 UTC (933 KB)
Full-text links:

Access Paper:

  • View PDF
  • TeX Source
  • Other Formats
view license
Current browse context:
cs.RO
< prev   |   next >
new | recent | 2022-06
Change to browse by:
cs
cs.CG
cs.DC

References & Citations

export BibTeX citation

Bookmark

BibSonomy logo Reddit logo

Bibliographic and Citation Tools

Bibliographic Explorer (What is the Explorer?)
Connected Papers (What is Connected Papers?)
Litmaps (What is Litmaps?)
scite Smart Citations (What are Smart Citations?)

Code, Data and Media Associated with this Article

alphaXiv (What is alphaXiv?)
CatalyzeX Code Finder for Papers (What is CatalyzeX?)
DagsHub (What is DagsHub?)
Gotit.pub (What is GotitPub?)
Hugging Face (What is Huggingface?)
Papers with Code (What is Papers with Code?)
ScienceCast (What is ScienceCast?)

Demos

Replicate (What is Replicate?)
Hugging Face Spaces (What is Spaces?)
TXYZ.AI (What is TXYZ.AI?)

Recommenders and Search Tools

Influence Flower (What are Influence Flowers?)
CORE Recommender (What is CORE?)

arXivLabs: experimental projects with community collaborators

arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website.

Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them.

Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs.

Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)