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AAAI
2007

Simple Robots with Minimal Sensing: From Local Visibility to Global Geometry

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Simple Robots with Minimal Sensing: From Local Visibility to Global Geometry
We consider problems of geometric exploration and selfdeployment for simple robots that can only sense the combinatorial (non-metric) features of their surroundings. Even with such a limited sensing, we show that robots can achieve complex geometric reasoning and perform many non-trivial tasks. Specifically, we show that one robot equipped with a single pebble can decide whether the workspace environment is a simply-connected polygon and, if not, it can also count the number of holes in the environment. Highlighting the subtleties of our sensing model, we show that a robot can decide whether the environment is a convex polygon, yet it cannot resolve whether a particular vertex is convex. Finally, we show that using such local and minimal sensing, a robot can compute a proper triangulation of a polygon, and that the triangulation algorithm can be implemented collaboratively by a group of m such robots, each with Θ(n/m) memory. As a corollary of the triangulation algorithm, we derive ...
Subhash Suri, Elias Vicari, Peter Widmayer
Added 02 Oct 2010
Updated 02 Oct 2010
Type Conference
Year 2007
Where AAAI
Authors Subhash Suri, Elias Vicari, Peter Widmayer
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