Convergence of Autonomous Mobile Robots with Inaccurate Sensors and Movements

A number of recent studies concern algorithms for distributed control and coordination in systems of autonomous mobile robots The common theoret ical model adopted in these studies assumes that the positional input of the robots is obtained by perfectly accurate visual sensors that robot movements are accurate and that internal calculations performed by the robots on real coordinates are perfectly accurate as well The current paper concentrates on the e ect of weakening this rather strong set of assumptions and replacing it with the more realistic assumption that the robot sensors movement and internal calculations may have slight inaccuracies Speci cally the paper con centrates on the ability of robot systems with inaccurate sensors movements and calculations to carry out the task of convergence The paper presents several impossibility theorems limiting the inaccuracy allowing convergence and prohibiting a general algorithm for gathering namely meeting at a point in a nite number of steps The main positive result is an algorithm for con vergence under bounded measurement movement and calculation errors Department of Computer Science and Applied Mathematics The Weizmann Institute of Sci ence Rehovot Israel E mail fr cohen david pelegg weizmann ac il