A Certified Universal Gathering Algorithm for Oblivious Mobile Robots

Pierre Courtieu; Lionel Rieg; Sébastien Tixeuil; Xavier Urbain

A Certified Universal Gathering Algorithm for Oblivious Mobile Robots

Distributed, Parallel, and Cluster Computing 2015-06-05 v1 Computational Geometry Data Structures and Algorithms Logic in Computer Science Robotics

Authors: Pierre Courtieu , Lionel Rieg , Sébastien Tixeuil , Xavier Urbain

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Abstract

We present a new algorithm for the problem of universal gathering mobile oblivious robots (that is, starting from any initial configuration that is not bivalent, using any number of robots, the robots reach in a finite number of steps the same position, not known beforehand) without relying on a common chirality. We give very strong guaranties on the correctness of our algorithm by proving formally that it is correct, using the COQ proof assistant. To our knowledge, this is the first certified positive (and constructive) result in the context of oblivious mobile robots. It demonstrates both the effectiveness of the approach to obtain new algorithms that are truly generic, and its managability since the amount of developped code remains human readable.

Keywords

mobile robot coordination multi-robot systems robotic manipulation

Cite

@article{arxiv.1506.01603,
  title  = {A Certified Universal Gathering Algorithm for Oblivious Mobile Robots},
  author = {Pierre Courtieu and Lionel Rieg and Sébastien Tixeuil and Xavier Urbain},
  journal= {arXiv preprint arXiv:1506.01603},
  year   = {2015}
}

A Certified Universal Gathering Algorithm for Oblivious Mobile Robots

Abstract

Keywords

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