And: Self-stabilizing LCM Schedulers for Autonomous Mobile Robots Using Neighborhood Mutual Remainder

Shlomi Dolev, Sayaka Kamei, Yoshiaki Katayama, Fukuhito Ooshita, Koichi Wada

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

A vast number of algorithms for robots assume a given schedule that ensures the simultaneous LOOK (observing the location of all other non-moving robots), only then simultaneous COMPUTE (computing the target for moving) and only then simultaneous MOVE (LCM). The assumption on the existence of synchronization signal for movements, when other robots do not LOOK is questionable. We present several self-stabilizing techniques to implement such a scheduler using global/local clock pulses and thus converting the vast numbers of robot algorithms that assume the LCM schedule, to eliminate this assumption at once. Namely, we present implementation of a move-atomic property scheduler, where robots possess an independent clock that is advanced at the same speed.We realize it by applying the neighborhood mutual remainder. This research presents the first self-stabilizing implementations of the LCM synchronization.

Original languageEnglish
Title of host publicationStabilization, Safety, and Security of Distributed Systems - 21st International Symposium, SSS 2019,Proceedings
EditorsMohsen Ghaffari, Mikhail Nesterenko, Sébastien Tixeuil, Sara Tucci, Yukiko Yamauchi
PublisherSpringer
Pages127-132
Number of pages6
ISBN (Print)9783030349912
DOIs
StatePublished - 1 Jan 2019
Event21st International Symposium on Stabilization, Safety, and Security of Distributed Systems, SSS 2019 - Pisa, Italy
Duration: 22 Oct 201925 Oct 2019

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume11914 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference21st International Symposium on Stabilization, Safety, and Security of Distributed Systems, SSS 2019
Country/TerritoryItaly
CityPisa
Period22/10/1925/10/19

Keywords

  • LCM robot system
  • Move-atomic
  • Neighborhood mutual remainder
  • Self-stabilization

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science (all)

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