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Presentation On "Rendezvous of Two Robots With Constant Memory"

This presentation discusses two models for solving the rendezvous problem of two robots meeting with limited capabilities: 1) Finite-state robots that have a few bits of persistent memory but cannot communicate. An algorithm is proposed for this model in a semi-synchronous setting. 2) Finite-communication robots that can transmit a few bits each cycle and remember the last transmission but otherwise have no memory. An algorithm is proposed for this model in an asynchronous setting. The presentation also discusses allowing non-rigid robot movements and the open problem of determining the minimum memory needed for rendezvous.

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50 views

Presentation On "Rendezvous of Two Robots With Constant Memory"

This presentation discusses two models for solving the rendezvous problem of two robots meeting with limited capabilities: 1) Finite-state robots that have a few bits of persistent memory but cannot communicate. An algorithm is proposed for this model in a semi-synchronous setting. 2) Finite-communication robots that can transmit a few bits each cycle and remember the last transmission but otherwise have no memory. An algorithm is proposed for this model in an asynchronous setting. The presentation also discusses allowing non-rigid robot movements and the open problem of determining the minimum memory needed for rendezvous.

Uploaded by

gauravgd16
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Presentation on

“Rendezvous of Two Robots


with Constant Memory”

Presented by : GAURAV DHONGDE


Neptune ID : AZ8IMA
Date : 07/12/2016
Contents
• Abstract
• Introduction
– Framework and Background
– Main Contributions
• Model and Terminology
• Finite-State Robots
• Finite-Communication Robots
• Movements: Knowledge vs. Rigidity
• Open Problems
Abstract
• In this presentation we will see how to solve the
rendezvous problem by weakening the settings in
two different ways :-
– By maintaining the O(1) bits of persistent
memory but removing the communication
capabilities a setting called finite-state(FSTATE)
– By maintaining the O(1) transmission capability
and the ability to remember the last received
transmission, but removing the ability of an
agent to remember its previous activities a
setting called finite-communication(FCOMM)
Introduction
• Framework and Background
– Rendezvous is the process of two computational
mobile entities, initially dispersed in a spatial
universe, meeting within finite time at a
location, non known a priori. When there are
more than two entities, this task is known as
Gathering.
– The above two are the core problems in
distributed computing by mobile entities.
Introduction
• Mobile entities have been intensively and
extensively studied when the universe is a
connected region of R2 in which the entities,
usually called robots, can freely move.
• Each entity is modeled as a point, it has its own
local coordinate system of which it perceives
itself as the centre, and has its own unit
distance.
Introduction
• Each entity operates in cycles of LOOK,COMPUTE and
MOVE activities.

– LOOK : entity observes the position of the other


entities expressed in its local coordinate system.
– COMPUTE : using that observation as input, it
executes a protocol (the same for all robots) and
computes a destination point
– MOVE : it then moves to the computed destination
point
Introduction
• Depending on the activation schedule and the
synchronization level, three basic types of
systems are identified in the literature :
– fully synchronous system (FSynch)
– Semi-synchronous system (SSynch)
– Asynchronous system (ASynch)
Introduction
• This paper is concerned with the impact that
memory has on the solvability of the
Rendezvous problem.
• We are interested in determining how many
bits of persistent memory and what type of
use would allow the robots to be rendezvous.
Introduction
• Main Contributions
We investigate rendezvous problem in two settings
– We first examine the setting where the two robots
have O(1) bits of internal persistent memory but
cannot communicate; this corresponds to the finite-
state (FState) robots model
– The finite-communication (FComm) setting, where a
robot can transmit O(1) bits in each cycle and
remembers the last received transmission, but it is
otherwise oblivious: it has no other persistent
memory of its previous observations, computations
and transmissions.
Introduction

Summary of these results is shown in Table 1


outstanding question is whether finite-state robots can
rendezvous in Asynch.
Model and Terminology
• In the first setting, that of silent finite-state (or simply,
FState) robots, the light of a robot is visible only to
the robot itself; i.e., the colored light merely encodes
an internal state.
• In the second setting, of oblivious finite-
communication (or simply FComm) robots, the light of
a robot is visible only to the other robot; i.e., they can
communicate with the other robot through their
colored light, but by their next cycle they forget even
the color of their own light (since they do not see it).
The color a robot sees is used as input during the
computation.
Finite-State Robots
We propose an algorithm for rendezvous in Ssynch
shown below
Finite-State Robots
• Each robot has six internal states, namely S start , S 1 , S left , S right ,
S 3 , and Sfinish. Both robots are assumed to begin their execution
in S start . Each robot lies in the origin of its own local coordinate
system and the two robots have no agreement on axes
orientations or unit distance.
• Intuitively, the robots try to reach a configuration in which they
both observe the other robot at distance not lower than 1 (their
own unit). From this configuration, they attempt to meet in the
midpoint. If they never meet because they are never activated
simultaneously, at some point one of them notices that its
observed distance is lower than 1. This implies a breakdown of
symmetry that enables the robots to finally gather.
Finite-Communication Robots
• In this paper they have proposed a algorithm that uses
the local unit distance as a computational tool, but in a
rather different way, since a robot cannot remember and
has to infer information by observing the other robot’s
light.
• Intuitively, the two robots try to reach a configuration
in which both robots see each other at distance lower
than 1. To do so, they first communicate to the other
whether or not the distance they observe is smaller
than 1 (recall that they may disagree, because their
unit distances may differ).
Finite-Communication Robots
• If one robot acknowledges that its partner has
observed a distance not smaller than 1, it reduces
the distance by moving toward the midpoint.
• The process goes on until both robots observe a
distance smaller than 1. At this point, if they have not
gathered yet, they try to compare their distance
functions, in order to break symmetry.
• They move away from each other in such a way that
their final distance is the sum of their respective unit
distances.
Movements: Knowledge vs. Rigidity
• We consider the Rendezvous problem when the
movement of the robots can be interrupted by an
adversary; previously, unless otherwise stated, we
have considered rigid movements, i.e., in each cycle
a robot reaches its computed destination point.
• Now, the only constraint on the adversary is that a
robot, if interrupted before reaching its destination,
moves by at least δ > 0 (otherwise, rendezvous is
clearly impossible).
• We get that, for rendezvous with lights, knowledge of
δ has the same power as rigidity of the movements.
Note that knowing δ implies also that the robots can
agree on a unit distance.
Open Problems
• In this paper it is shown that rendezvous is
possible in SSynch for FState robots and in
ASynch for FComm robots, seem to indicate
that “it is better to communicate than to
remember”. However, determining the precise
computational relationship between FState
and FComm is an open problem.
Open Problems
• An interesting research question is to
determine the smallest amount of memory
necessary for the robots to rendezvous when
rendezvous is possible, and devise optimal
solution protocols.
• The knowledge of δ in non-rigid scenarios is
quite powerful and allows for simple solutions.
It is an open problem to study the
Rendezvous problem for FState and FComm
robots when δ is unknown or not known
precisely.
References
[1] N. Agmon and D. Peleg. Fault-tolerant gathering algorithms for
autonomous mobile robots SIAM Journal on Computing, 36:56–82,
2006.
[2] Z. Bouzid, S. Das, and S. Tixeuil. Gathering of Mobile Robots
Tolerating Multiple Crash Faults. In Proceedings of 33rd IEEE
International Conference on Distributed Computing Systems
(ICDCS), 2013.
[3] Z. Bouzid, M. Gradinariu Potop-Butucaru, and S. Tixeuil.
Byzantine convergence in robot networks: The price of
asynchrony. In Proceedings of 13th International Conference
Principles of Distributed Systems (OPODIS), pages 54–70, 2009.
[4] M. Cieliebak, P. Flocchini, G. Prencipe, and N. Santoro.
Distributed computing by mobile robots: Gathering. SIAM Journal
on Computing, 41(4): 829-879, 2012.
Thank You.

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