TY - GEN
T1 - Fault-Tolerant Dispersion of Mobile Robots
AU - Chand, Prabhat Kumar
AU - Kumar, Manish
AU - Molla, Anisur Rahaman
AU - Sivasubramaniam, Sumathi
N1 - Publisher Copyright:
© 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.
PY - 2023/1/1
Y1 - 2023/1/1
N2 - We consider the mobile robot dispersion problem in the presence of faulty robots (crash-fault). Mobile robot dispersion consists of k≤ n robots in an n-node anonymous graph. The goal is to ensure that regardless of the initial placement of the robots over the nodes, the final configuration consists of having at most one robot at each node. In a crash-fault setting, up to f≤ k robots may fail by crashing arbitrarily and subsequently lose all the information stored at the robots, rendering them unable to communicate. In this paper, we solve the dispersion problem in a crash-fault setting by considering two different initial configurations: i) the rooted configuration, and ii) the arbitrary configuration. In the rooted case, all robots are placed together at a single node at the start. The arbitrary configuration is a general configuration (a.k.a. arbitrary configuration in the literature) where the robots are placed in some l< k clusters arbitrarily across the graph. For the first case, we develop an algorithm solving dispersion in the presence of faulty robots in O(k2) rounds, which improves over the previous O(f· min (m, kΔ) ) -round result by [23]. For the arbitrary configuration, we present an algorithm solving dispersion in O((f+ l) · min (m, kΔ, k2) ) rounds, when the number of edges m and the maximum degree Δ of the graph is known to the robots.
AB - We consider the mobile robot dispersion problem in the presence of faulty robots (crash-fault). Mobile robot dispersion consists of k≤ n robots in an n-node anonymous graph. The goal is to ensure that regardless of the initial placement of the robots over the nodes, the final configuration consists of having at most one robot at each node. In a crash-fault setting, up to f≤ k robots may fail by crashing arbitrarily and subsequently lose all the information stored at the robots, rendering them unable to communicate. In this paper, we solve the dispersion problem in a crash-fault setting by considering two different initial configurations: i) the rooted configuration, and ii) the arbitrary configuration. In the rooted case, all robots are placed together at a single node at the start. The arbitrary configuration is a general configuration (a.k.a. arbitrary configuration in the literature) where the robots are placed in some l< k clusters arbitrarily across the graph. For the first case, we develop an algorithm solving dispersion in the presence of faulty robots in O(k2) rounds, which improves over the previous O(f· min (m, kΔ) ) -round result by [23]. For the arbitrary configuration, we present an algorithm solving dispersion in O((f+ l) · min (m, kΔ, k2) ) rounds, when the number of edges m and the maximum degree Δ of the graph is known to the robots.
KW - Crash-fault
KW - Dispersion
KW - Distributed algorithm
KW - Fault-tolerant algorithm
KW - Memory complexity
KW - Mobile robot
KW - Round complexity
UR - https://www.scopus.com/pages/publications/85149813571
U2 - 10.1007/978-3-031-25211-2_3
DO - 10.1007/978-3-031-25211-2_3
M3 - Conference contribution
AN - SCOPUS:85149813571
SN - 9783031252105
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 28
EP - 40
BT - Algorithms and Discrete Applied Mathematics - 9th International Conference, CALDAM 2023, Proceedings
A2 - Bagchi, Amitabha
A2 - Muthu, Rahul
PB - Springer Science and Business Media Deutschland GmbH
T2 - 9th International Conference on Algorithms and Discrete Applied Mathematics, CALDAM 2023
Y2 - 9 February 2023 through 11 February 2023
ER -