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Collaborative Exploration of Trees by Energy-Constrained Mobile Robots

Abstract

We study the problem of exploration of a tree by mobile agents (robots) that have limited energy. The energy constraint bounds the number of edges that can be traversed by a single agent. We use a team of agents to collectively explore the tree and the objective is to minimize the size of this team. The agents start at a single node, the designated root of the tree and the height of the tree is assumed to be less than the energy bound B of the agents. The agents have local vision and communication capabilities; two agents can exchange information only when they are collocated at the same node. We provide an exploration algorithm for visiting all nodes of the unknown tree and we compare our algorithm with the optimal offline algorithm that has complete knowledge of the tree. Our algorithm has a competitive ratio of O(log B), independent of the number of nodes in the tree. We also show that this is the best possible competitive ratio for exploration of unknown trees.

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Category:
Articles
Type:
artykuł w czasopiśmie wyróżnionym w JCR
Published in:
THEORY OF COMPUTING SYSTEMS no. 62, edition 5, pages 1223 - 1240,
ISSN: 1432-4350
Language:
English
Publication year:
2018
Bibliographic description:
Das S., Dereniowski D., Karousatou C.: Collaborative Exploration of Trees by Energy-Constrained Mobile Robots// THEORY OF COMPUTING SYSTEMS. -Vol. 62, iss. 5 (2018), s.1223-1240
DOI:
Digital Object Identifier (open in new tab) 10.1007/s00224-017-9816-3
Verified by:
Gdańsk University of Technology

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