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Paper Abstract and Keywords
Presentation 2007-06-29 15:30
A Difference-Optimal Algorithm for Gathering Autonomous Mobile Robots with Dynamic Compasses
Taisuke Izumi, Yoshiaki Katayama, Nobuhiro Inuzuka, Koichi Wada (Nagoya Inst.of Tech.) COMP2007-27
Abstract (in Japanese) (See Japanese page) 
(in English) Let us consider $n$ autonomous mobile robots that
can move in a two dimensional plane. The gathering problem is
one of most fundamental tasks of autonomous mobile robots. In short,
given a set of robots with arbitrary initial locations, gathering
must make all robots meet in finite time at a point that is not predefined.
In this paper, we study about the feasibility of gathering by mobile robots
that have {\em $\phi$-absolute error dynamic compasses}. While the direction
of each local coordinate system is fixed in usual systems, the dynamic
compass model allows the angle difference between a local coordinate system
and the global coordinate system to vary with time in the range of $[0, \phi]$.
This paper proposes a semi-synchronous gathering algorithm
for $n$ robots with $(\pi/2 - \epsilon)$-absolute error dynamic compasses,
where $\epsilon$ is an arbitrary small constant larger than zero.
Since it is known that for any $\phi \geq \pi/2$, there is no algorithm
to gather two robots with $\phi$-absolute error dynamic compasses,
our algorithm is difference-optimal.
Keyword (in Japanese) (See Japanese page) 
(in English) Autonomous mobile robot / Gathering / Dynamic comppass / / / / /  
Reference Info. IEICE Tech. Rep., vol. 107, no. 127, COMP2007-27, pp. 71-78, June 2007.
Paper # COMP2007-27 
Date of Issue 2007-06-22 (COMP) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF COMP2007-27

Conference Information
Committee COMP  
Conference Date 2007-06-29 - 2007-06-29 
Place (in Japanese) (See Japanese page) 
Place (in English) Hokkaido University 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To COMP 
Conference Code 2007-06-COMP 
Language English (Japanese title is available) 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) A Difference-Optimal Algorithm for Gathering Autonomous Mobile Robots with Dynamic Compasses 
Sub Title (in English)  
Keyword(1) Autonomous mobile robot  
Keyword(2) Gathering  
Keyword(3) Dynamic comppass  
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Keyword(5)  
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1st Author's Name Taisuke Izumi  
1st Author's Affiliation Nagoya Institute of Technology (Nagoya Inst.of Tech.)
2nd Author's Name Yoshiaki Katayama  
2nd Author's Affiliation Nagoya Institute of Technology (Nagoya Inst.of Tech.)
3rd Author's Name Nobuhiro Inuzuka  
3rd Author's Affiliation Nagoya Institute of Technology (Nagoya Inst.of Tech.)
4th Author's Name Koichi Wada  
4th Author's Affiliation Nagoya Institute of Technology (Nagoya Inst.of Tech.)
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Speaker Author-1 
Date Time 2007-06-29 15:30:00 
Presentation Time 25 minutes 
Registration for COMP 
Paper # COMP2007-27 
Volume (vol) vol.107 
Number (no) no.127 
Page pp.71-78 
#Pages 8 
Date of Issue 2007-06-22 (COMP) 

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