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

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

doi:10.1007/978-3-030-34992-9_11

Brief Announcement: 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 proceeding › Conference contribution › peer-review

1 Scopus citations

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 language	English
Title of host publication	Stabilization, Safety, and Security of Distributed System
Subtitle of host publication	21st International Symposium, SSS 2019, Pisa, Italy
Editors	Mohsen Ghaffari, Mikhail Nesterenko, Sébastien Tixeuil, Sara Tucci, Yukiko Yamauchi
Publisher	Springer
Pages	127-132
Number of pages	6
ISBN (Electronic)	9783030349929
ISBN (Print)	9783030349912
DOIs	https://doi.org/10.1007/978-3-030-34992-9_11
State	Published - 14 Nov 2019
Event	21st International Symposium on Stabilization, Safety, and Security of Distributed Systems, SSS 2019 - Pisa, Italy Duration: 22 Oct 2019 → 25 Oct 2019

Publication series

Name	Lecture Notes in Computer Science
Volume	11914 LNCS
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	21st International Symposium on Stabilization, Safety, and Security of Distributed Systems, SSS 2019
Country/Territory	Italy
City	Pisa
Period	22/10/19 → 25/10/19

Keywords

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

ASJC Scopus subject areas

Theoretical Computer Science
General Computer Science

Access to Document

10.1007/978-3-030-34992-9_11

Cite this

Dolev, S., Kamei, S., Katayama, Y., Ooshita, F., & Wada, K. (2019). Brief Announcement: Self-stabilizing LCM Schedulers for Autonomous Mobile Robots Using Neighborhood Mutual Remainder. In M. Ghaffari, M. Nesterenko, S. Tixeuil, S. Tucci, & Y. Yamauchi (Eds.), Stabilization, Safety, and Security of Distributed System: 21st International Symposium, SSS 2019, Pisa, Italy (pp. 127-132). (Lecture Notes in Computer Science; Vol. 11914 LNCS). Springer. https://doi.org/10.1007/978-3-030-34992-9_11

Dolev, Shlomi ; Kamei, Sayaka ; Katayama, Yoshiaki et al. / Brief Announcement : Self-stabilizing LCM Schedulers for Autonomous Mobile Robots Using Neighborhood Mutual Remainder. Stabilization, Safety, and Security of Distributed System: 21st International Symposium, SSS 2019, Pisa, Italy. editor / Mohsen Ghaffari ; Mikhail Nesterenko ; Sébastien Tixeuil ; Sara Tucci ; Yukiko Yamauchi. Springer, 2019. pp. 127-132 (Lecture Notes in Computer Science).

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title = "Brief Announcement: Self-stabilizing LCM Schedulers for Autonomous Mobile Robots Using Neighborhood Mutual Remainder",

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.",

keywords = "LCM robot system, Move-atomic, Neighborhood mutual remainder, Self-stabilization",

author = "Shlomi Dolev and Sayaka Kamei and Yoshiaki Katayama and Fukuhito Ooshita and Koichi Wada",

note = "Funding Information: Keywords: Self-stabilization · LCM robot system · Move-atomic · Neighborhood mutual remainder This work was supported in part by JSPS KAKENHI No. 17K00019, 18K11167, 19K11823 and 19K11828, Rita Altura Trust Chair in Computer Science, the Ministry of Science and Technology, Israel \&Japan Science and Technology Agency (JST) SICORP (Grant\#JPMJSC1806) and the German Research Funding Organization (DFG, Grant\#8767581199). Publisher Copyright: {\textcopyright} Springer Nature Switzerland AG 2019.; 21st International Symposium on Stabilization, Safety, and Security of Distributed Systems, SSS 2019 ; Conference date: 22-10-2019 Through 25-10-2019",

year = "2019",

month = nov,

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doi = "10.1007/978-3-030-34992-9\_11",

language = "English",

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series = "Lecture Notes in Computer Science",

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pages = "127--132",

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}

Dolev, S, Kamei, S, Katayama, Y, Ooshita, F & Wada, K 2019, Brief Announcement: Self-stabilizing LCM Schedulers for Autonomous Mobile Robots Using Neighborhood Mutual Remainder. in M Ghaffari, M Nesterenko, S Tixeuil, S Tucci & Y Yamauchi (eds), Stabilization, Safety, and Security of Distributed System: 21st International Symposium, SSS 2019, Pisa, Italy. Lecture Notes in Computer Science, vol. 11914 LNCS, Springer, pp. 127-132, 21st International Symposium on Stabilization, Safety, and Security of Distributed Systems, SSS 2019, Pisa, Italy, 22/10/19. https://doi.org/10.1007/978-3-030-34992-9_11

Brief Announcement: Self-stabilizing LCM Schedulers for Autonomous Mobile Robots Using Neighborhood Mutual Remainder. / Dolev, Shlomi; Kamei, Sayaka; Katayama, Yoshiaki et al.
Stabilization, Safety, and Security of Distributed System: 21st International Symposium, SSS 2019, Pisa, Italy. ed. / Mohsen Ghaffari; Mikhail Nesterenko; Sébastien Tixeuil; Sara Tucci; Yukiko Yamauchi. Springer, 2019. p. 127-132 (Lecture Notes in Computer Science; Vol. 11914 LNCS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Dolev, Shlomi

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AU - Wada, Koichi

N1 - Funding Information: Keywords: Self-stabilization · LCM robot system · Move-atomic · Neighborhood mutual remainder This work was supported in part by JSPS KAKENHI No. 17K00019, 18K11167, 19K11823 and 19K11828, Rita Altura Trust Chair in Computer Science, the Ministry of Science and Technology, Israel &Japan Science and Technology Agency (JST) SICORP (Grant#JPMJSC1806) and the German Research Funding Organization (DFG, Grant#8767581199). Publisher Copyright: © Springer Nature Switzerland AG 2019.

PY - 2019/11/14

Y1 - 2019/11/14

N2 - 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.

AB - 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.

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KW - Neighborhood mutual remainder

KW - Self-stabilization

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BT - Stabilization, Safety, and Security of Distributed System

A2 - Ghaffari, Mohsen

A2 - Nesterenko, Mikhail

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Dolev S, Kamei S, Katayama Y, Ooshita F, Wada K. Brief Announcement: Self-stabilizing LCM Schedulers for Autonomous Mobile Robots Using Neighborhood Mutual Remainder. In Ghaffari M, Nesterenko M, Tixeuil S, Tucci S, Yamauchi Y, editors, Stabilization, Safety, and Security of Distributed System: 21st International Symposium, SSS 2019, Pisa, Italy. Springer. 2019. p. 127-132. (Lecture Notes in Computer Science). doi: 10.1007/978-3-030-34992-9_11

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

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Keywords

ASJC Scopus subject areas

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