27. Juni 2018

Band 380 in der Verlagsschriftenreihe erschienen

"Local Strategies for Swarm Formations on a Grid" von Daniel Jung


The dissertation deals with the Gathering problem for swarms of n point-shaped, indistinduishable, autonomous robots on a grid, in which all robots of the swarm are supposed to gather at a previously
undefined point. Special attention is paid to the strong limitation of robot capabilities. These include in particular the lack of global control, a global compass, global visibility and (global) communication
skills. The robots are given only local abilities, especially a constant range of vision. The robots all work completely synchronously. We present and analyze three different Gathering strategies in different
robot models. We formally prove correctness and total running time: Chapter 4 focuses on minimizing the robot capabilities. Our strategy needs time O(n^2). For Chapters 5 and 6, the aim is to optimize the
running time under using only local robot capabilities: We additionally allow a constant-sized memory and a constant number of locally visible statuses (lights, flags). We prove asymptotically optimal running times of O(n). Unlike in Chapters 4 and 5, robots maintain an initially given closed-chain connectivity that restricts vision additionally to only local chain neighbors in Chapter 6.

Daniel Jung, born in Mönchengladbach, studied computer science at the Rheinische Friedrich-Wilhelms University of Bonn. The main focus of his studies was „Computational Geometry“ and „Computational Motion Planning for Robots“.                                                                                                                   He then earned his doctorate at the Paderborn University under Prof.
Dr. math. Friedhelm Meyer auf der Heide in his department „Algorithms and Complexity“ of Theoretical Computer Science to become Dr. rer. nat. During his doctorate, he formally developed and analyzed several local strategies for the formation building of robot swarms. In his spare time he sings in a choir and plays piano and dulcian.


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E-Mail: Mungiuri@hni.upb.de

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