A Theoretical Model for Autonomous Mobile Robots based on CPS and Limitations of its Computation

• Project/Area Number: 17K00019
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Theory of informatics
• Research Institution: Hosei University
• Principal Investigator: Wada Koichi 法政大学, 理工学部, 教授 (90167198)
• Co-Investigator(Kenkyū-buntansha): DEFAGO Xavier 東京工業大学, 情報理工学院, 教授 (70333557)
• Project Period (FY): 2017-04-01 – 2021-03-31
• Project Status: Completed (Fiscal Year 2020)
• Budget Amount: ¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000); Fiscal Year 2019: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000); Fiscal Year 2018: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000); Fiscal Year 2017: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
• Keywords: 自律分散ロボット / CPS / 非同期度 / 集合問題 / 自己安定 / ライト / 同期度 / 非同期 / 無記憶 / 匿名性 / 形状形成 / Cyber Phisical Systems / 耐故障性 / 計算限界

Outline of Final Research Achievements

We construct a theoretical model based on CPS for autonomous mobile robots and obtain several results about the computational power of autonomous mobile robots as follows: (1) A new model for mobile robots including the concept of CPS is proposed and an online routing algorithm for mobile robots is developed. (2) We give fault-tolerant gathering algorithms on an LCM robot model. (3) We clarify the computational power of mobile robots with lights. (4) We solve gathering problem of myopic mobile robots on ring-shaped networks, which can behave in completely asynchronous fashion.

Academic Significance and Societal Importance of the Research Achievements

CPSに基づいた自律分散ロボットに対する理論的モデルの構築とその上での自律分散ロボット群の計算能力の解明は,分散情報学における分散アルゴリズムの進展に寄与するところが大きい．また，CPSに基づいた自律分散ロボット群の理論的モデルはより現実的な条件を取り入れているので，実機開発における評価基準となりえる可能性が高い．特に完全非同期で動作する制限視野をもつライト付きロボット群に対するアルゴリズムはその一例である．

Research Products

• [Int'l Joint Research] University of Ottawa/Carleton University(カナダ)
• [Int'l Joint Research] Sorbonne University(フランス)
• [Int'l Joint Research] Ben-Gurion University of the Negev(イスラエル)
• [Int'l Joint Research] Ben-Grion University of the Negev(イスラエル)
• [Int'l Joint Research] University of Ottawa/Carleton University(カナダ)
• [Int'l Joint Research] Lip6(フランス)
• [Journal Article] Self-stabilizing gathering of mobile robots under crash or Byzantine faults (2020)
  • Author(s): Xavier Defago, Maria Potop-Butucaru, Philippe Raipin Parvedy
  • Journal Title: Distributed Computing Volume: 33 Issue: 5 Pages: 393-421
  • DOI: 10.1007/s00446-019-00359-x
  • Peer Reviewed / Int'l Joint Research
• [Journal Article] Communication Efficient Self-Stabilizing Leader Election (2020)
  • Author(s): Xavier Defago, Yuval Emek, Shay Kutten, Toshimitsu Masuzawa, Yasumasa Tamura
  • Journal Title: DISC 2020 Volume: －
  • Peer Reviewed / Int'l Joint Research
• [Journal Article] Forgive & Forget: Self-Stabilizing Swarms in Spite of Byzantine Robots (2020)
  • Author(s): Yotam Ashkenazi, Shlomi Dolev, Sayaka Kamei, Fukuhito Ooshita, Koichi Wada
  • Journal Title: Concurrency and Computation Practice and Experience Volume: 32 Issue: 11 Pages: 1-15
  • DOI: 10.1002/cpe.6123
  • Peer Reviewed / Int'l Joint Research
• [Journal Article] On Memory, Communication, and Synchronous Schedulers When Moving and Computing (2020)
  • Author(s): Paola Flocchini, Nicola Santoro, and Koichi Wada
  • Journal Title: Proc. 23rd International Conference on Principles of Distributed Systems Volume: -
  • Peer Reviewed / Int'l Joint Research
• [Journal Article] Gathering on Rings for Myopic Asynchronous Robots with Lights (2020)
  • Author(s): Sayaka Kamei, Anissa Lamani, Fukuhito Ooshita, Sebastien Tixeuil and Koichi Wada
  • Journal Title: Proc. 23rd International Conference on Principles of Distributed Systems Volume: -
  • Peer Reviewed / Int'l Joint Research
• [Journal Article] Priority Inheritance with Backtracking for Iterative Multi-agent Path Finding (2019)
  • Author(s): Okumura Keisuke、Machida Manao、Xavier Defago、Tamura Yasumasa
  • Journal Title: IJCAI 2019 Volume: - Pages: 535-542
  • DOI: 10.24963/ijcai.2019/76
• [Journal Article] Brief Announcement: Neighborhood Mutual Remainder and its Self-Stabilizing Implementation of Look-Compute-Move Robots (2019)
  • Author(s): Shlomi Dolev, Sayaka Kamei, Yoshiaki Katayama, Fukuhito Ooshita and Koichi Wada
  • Journal Title: Proc. of 33rd International Symposium on Distributed Computing (DISC 2019) Volume: -
  • Peer Reviewed / Int'l Joint Research
• [Journal Article] Brief Announcement: Model Checking Rendezvous Algorithms for Robots with Lights in Euclidean Space (2019)
  • Author(s): Xavier Defago and Adam Heriban and Sebastien Tixeuil and Koichi Wada
  • Journal Title: Proc. of 33rd International Symposium on Distributed Computing (DISC 2019) Volume: -
  • NAID: 120006766465
  • Peer Reviewed / Int'l Joint Research
• [Journal Article] Brief Announcement: Self-stabilizing LCM Schedulers for Autonomous Mobile Robots Using Neighborhood Mutual Remainder (2019)
  • Author(s): Dolev Shlomi、Kamei Sayaka、Katayama Yoshiaki、Ooshita Fukuhito、Wada Koichi
  • Journal Title: Proc. 21st International Symposium on Stabilization, Safety, and Security of Distributed Systems Volume: - Pages: 127-132
  • DOI: 10.1007/978-3-030-34992-9_11
  • ISBN: 9783030349912, 9783030349929
  • Peer Reviewed / Int'l Joint Research
• [Journal Article] Brief Announcement Forgive & Forget: Self-stabilizing Swarms in Spite of Byzantine Robots (2019)
  • Author(s): Ashkenazi Yotam、Dolev Shlomi、Kamei Sayaka、Ooshita Fukuhito、Wada Koichi
  • Journal Title: Proc. 21st International Symposium on Stabilization, Safety, and Security of Distributed Systems Volume: - Pages: 16-21
  • DOI: 10.1007/978-3-030-34992-9_2
  • ISBN: 9783030349912, 9783030349929
  • Peer Reviewed / Int'l Joint Research
• [Journal Article] Forgive & Forget: Self-Stabilizing Swarms in Spite of Byzantine Robots (2019)
  • Author(s): Ashkenazi Yotam、Dolev Shlomi、Kamei Sayaka、Ooshita Fukuhito、Wada Koichi
  • Journal Title: 11th International Workshop on Parallel and Distributed Algorithms and Applications (PDAA 2019) Volume: - Pages: 1-8
  • DOI: 10.1109/candarw.2019.00041
  • Peer Reviewed / Int'l Joint Research
• [Journal Article] Efficient Circuit Simulation in MapReduce (2019)
  • Author(s): Fabian Frei and Koichi Wada
  • Journal Title: 30th International Symposium on Algorithms and Computation (ISAAC 2019) Volume: -
  • Peer Reviewed / Int'l Joint Research
• [Journal Article] Neighborhood Mutual Remainder: Self-Stabilizing Implementation of Look-Compute-Move Robots (Extended Abstract) (2019)
  • Author(s): Shlomi Dolev, Sayaka Kamei, Yoshiaki Katayama, Fukuhito Ooshita, Koichi Wada
  • Journal Title: arXiv Volume: arXiv:1903.02843 Pages: 1-16
  • Int'l Joint Research
• [Journal Article] Fault-Tolerant Mobile Robots (2019)
  • Author(s): Defago Xavier、Potop-Butucaru Maria、Tixeuil Sebastien
  • Journal Title: Distributed Computing by Mobile Entities Volume: none Pages: 234-251
  • DOI: 10.1007/978-3-030-11072-7_10
  • ISBN: 9783030110710, 9783030110727
  • Int'l Joint Research
• [Journal Article] 非同期自律分散モバイルロボット群における排他制御とその効率化 (2019)
  • Author(s): 森 将真, 田村 康将, Défago Xavier
  • Journal Title: 第18回複雑系マイクロシンポジウム Volume: none Pages: 3-5
  • Peer Reviewed
• [Journal Article] Rendezvous of Asynchronous Mobile Robots with Lights (2018)
  • Author(s): T. Okumura, K. Wada, Y. Katayama
  • Journal Title: Lecture Notes in Computer Science Volume: 11011 Pages: 434-448
  • DOI: 10.1007/978-3-319-98355-4_25
  • ISBN: 9783319983547, 9783319983554
  • Peer Reviewed
• [Journal Article] Gathering problems for autonomous mobile robots with lights (2018)
  • Author(s): S. Terai, K. Wada and Y. Katayama
  • Journal Title: arXiv Volume: arXiv:1811.12068v1 Pages: 1-39
• [Journal Article] Optimal Rendezvous L-Algorithms for Asynchronous Mobile Robots with External-Lights (2018)
  • Author(s): T. Okumura, K. Wada, X. Defago
  • Journal Title: 22nd Internationa Conference on Principles of Distributed Systems (OPODIS 2018), LIPICS Volume: 125
  • DOI: 10.4230/LIPICS.OPODIS.2018.24
  • Peer Reviewed
• [Journal Article] Amoeba Exploration: Coordinated Exploration with Distributed Robots (2018)
  • Author(s): Okumura Keisuke、Tamura Yasumasa、Defago Xavier
  • Journal Title: The 9th International Conference on Awareness Science and Technology (iCAST) Volume: none Pages: 191-195
  • DOI: 10.1109/icawst.2018.8517225
  • Peer Reviewed
• [Journal Article] Rendezvous of Asynchronous Mobile Robots with Lights (2018)
  • Author(s): T. Okumura, K. Wada, Y. Katayama
  • Journal Title: Lecture Note in Computer Science Volume: 印刷中
  • Peer Reviewed
• [Journal Article] Designing a Maintenance Free Multi-Channel Wireless Sensor Network Protocol (2018)
  • Author(s): Nur Sazwani Ghazali, Sabariah Baharun, A. K. M. Muzahidul Islam, K. Wada
  • Journal Title: UTM Jurnal Teknologi Volume: 80 Pages: 67-75
  • Peer Reviewed / Int'l Joint Research
• [Journal Article] Brief Announcement: Optimal Asynchronous Rendezvous for Mobile Robots with Lights (2017)
  • Author(s): T. Okumura, K. Wada, Y. Katayama
  • Journal Title: Lecture Note in Computer Science Volume: 10616 Pages: 484-488
  • Peer Reviewed
• [Presentation] Distributed Agreement and Robot Coordination (2019)
  • Author(s): Xavier Defago
  • Organizer: JFLI-Tokyo Tech Workshop
  • Int'l Joint Research / Invited
• [Presentation] Distributed Algorithms for Robot Systems (2019)
  • Author(s): Xavier Defago
  • Organizer: 149th NII Shonan Meeting
  • Int'l Joint Research / Invited
• [Presentation] Model Checking Robot Algorithms in Euclidean Space (2019)
  • Author(s): Xavier Defago
  • Organizer: 第15回情報科学ワークショップ
  • Invited
• [Presentation] Self-Stabilizing Gathering of Mobile Robots under Crash or Byzantine Faults (2019)
  • Author(s): Xavier Defago
  • Organizer: 2nd Japan-Taiwan Joint Workshop, Taipei, Taiwan
  • Int'l Joint Research / Invited
• [Presentation] Brief Announcement: Neighborhood Mutual Remainder and its Self-Stabilizing Implementation of Look-Compute-Move Robots (2019)
  • Author(s): Shlomi Dolev
  • Organizer: 33rd International Symposium on Distributed Computing
  • Int'l Joint Research
• [Presentation] Brief Announcement: Model Checking Rendezvous Algorithms for Robots with Lights in Euclidean Space (2019)
  • Author(s): Sebastien Tixeuil
  • Organizer: 33rd International Symposium on Distributed Computing
• [Presentation] Dependability and Fault-Tolerance of Cooperative Mobile Robots: The Gap Between Theory and Pragmatism (2019)
  • Author(s): Xavier Defago
  • Organizer: Pacific-Rim Intl. Symp. on Dependable Computing
  • Int'l Joint Research / Invited
• [Presentation] Brief Announcement: Self-Stabilizing Implementation of LCM Robots (2019)
  • Author(s): Sayaka Kamei
  • Organizer: 21st International Symposium on Stabilization, Safety, and Security of Distributed Systems
  • Int'l Joint Research
• [Presentation] Brief announcement: Forgive & Forget: Self-Stabilizing Swarms in Spite of Byzantine Robots (2019)
  • Author(s): Fukuhito Ooshita
  • Organizer: 21st International Symposium on Stabilization, Safety, and Security of Distributed Systems
  • Int'l Joint Research
• [Presentation] Forgive & Forget: Self-Stabilizing Swarms in Spite of Byzantine Robots (2019)
  • Author(s): Fukuhito Ooshita
  • Organizer: 11th International Workshop on Parallel and Distributed Algorithms and Applications, in conjunction with CANDAR 2019
  • Int'l Joint Research
• [Presentation] Efficient Circuit Simulation in MapReduce (2019)
  • Author(s): Koichi Wada
  • Organizer: 30th International Symposium on Algorithms and Computation (ISAAC 2019)
  • Int'l Joint Research
• [Presentation] On Memory, Communication, and Synchronous Schedulers When Moving and Computing (2019)
  • Author(s): Koichi Wada
  • Organizer: 23rd International Conference on Principles of Distributed Systems,
  • Int'l Joint Research
• [Presentation] Gathering on Rings for Myopic Asynchronous Robots with Lights (2019)
  • Author(s): Sayaka Kamei
  • Organizer: 23rd International Conference on Principles of Distributed Systems,
  • Int'l Joint Research
• [Presentation] Parallel Complexity for MapReduce computation (2019)
  • Author(s): Koichi Wada
  • Organizer: Lip6 Computer Science Seminar, Paris
  • Invited
• [Presentation] Gathering and rendezvous for autonomous mobile robots (2018)
  • Author(s): Koichi Wada
  • Organizer: SSS Seminar in ETH, Zurich
  • Invited
• [Presentation] Rendezvous on asynchronous mobile robots with lights -Relationship between power of lights and synchrony (2018)
  • Author(s): Koichi Wada
  • Organizer: 2nd Workshop on Self-organization in Swarm of Robots in SSS 2018, Tokyo
  • Int'l Joint Research / Invited
• [Presentation] Decentralized Route Planning and Exploration in Multi-Robot Systems (2018)
  • Author(s): DEFAGO Xavier
  • Organizer: 3rd Taiwan-Japan workshop on secure and dependable IoT systems, Tokyo
  • Invited
• [Presentation] Computing by Luminous Robots (2017)
  • Author(s): K. Wada
  • Organizer: Research Meeting and School on Distributed Computing by Mobile Robots (MAC 2017)
  • Int'l Joint Research / Invited
• [Presentation] Rendezvous of Autonomous Mobile Robots with Lights in Asynchronous Schedulers (2017)
  • Author(s): T. Okumura, K. Wada, Y. Katayama
  • Organizer: The 20th Korean-Japan Joint Workshop on Algorithms and Computation (WAAC2017)
  • Int'l Joint Research
• [Presentation] Rendezvous and Gathering for Asynchronous Mobile Robots with Lights--Relationship between power of lights and synchrony (2017)
  • Author(s): K. Wada
  • Organizer: MoRoVer: Mobile Robots and Verification
  • Int'l Joint Research / Invited