Reconstructing visibility graphs with simple robots

Reconstructing Visibility Graphs with Simple Robots

We consider the problem of finding a minimalistic configuration of sensors that enable a simple robot inside an initially unknown polygon P on n vertices to reconstruct the visibility graph of P . The robot can sense features of its environment through its sensors, and it is allowed to move from vertex to vertex. We aim at understanding which sensorial capabilities are sufficient for the recons...

How Simple Robots Bene t from Looking Back: Reconstructing Visibility Graphs of Polygons

We study the sensor and movement capabilities that simple robots need in order to create a map of an unknown polygon of size n, and to meet. We consider robots that can move from vertex to vertex, can backtrack movements, and see distant vertices in counter-clockwise order but have no means of visibly identifying them. We show that such robots can always solve the weak rendezvous problem and re...

On Recognizing and Characterizing Visibility Graphs of Simple Polygons

Gathering of asynchronous robots with limited visibility

In this paper we study the problem of gathering in the same location of the plane a collection of identical oblivious mobile robots. Previous investigations have focused mostly on the unlimited visibility setting, where each robot can always see all the other ones, regardless of their distance. In the more difficult and realistic setting where the robots have limited visibility, the existing al...

Mutual Visibility by Robots with Persistent Memory

This paper addresses the mutual visibility problem for a set of semi-synchronous, opaque robots occupying distinct positions in the Euclidean plane. Since robots are opaque, if three robots lie on a line, the middle robot obstructs the visions of the two other robots. The mutual visibility problem asks the robots to coordinate their movements to form a configuration, within finite time and with...