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ESA
2004
Springer

Convergence Properties of the Gravitational Algorithm in Asynchronous Robot Systems

13 years 9 months ago
Convergence Properties of the Gravitational Algorithm in Asynchronous Robot Systems
This paper considers the convergence problem in autonomous mobile robot systems. A natural algorithm for the problem requires the robots to move towards their center of gravity. This paper proves the correctness of the gravitational algorithm in the fully asynchronous model. It also analyzes its convergence rate and establishes its convergence in the presence of crash faults. Key words. robot swarms, autonomous mobile robots, convergence AMS subject classifications. 68Q22, 70B15 DOI. 10.1137/S0097539704446475
Reuven Cohen, David Peleg
Added 01 Jul 2010
Updated 01 Jul 2010
Type Conference
Year 2004
Where ESA
Authors Reuven Cohen, David Peleg
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