Robot Swarms for Exploration and Triangulation of Unknown Environments
نویسندگان
چکیده
We consider a robot swarm in an unknown polygon. All robots have only a limited communication range. We then look for a triangulation of the polygon using the robots as vertices such that the number of robots used for the triangulation is minimized. All edges in the triangulation have a length smaller than the communication range. For this Online Minimum Relay Triangulation Problem, we present a lower bound of 9 8 on the competitive ratio for any online algorithm. Moreover, we give an algorithm that is 21 4 competitive for simple polygons and 6-competitive for general polygons.
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