Asymptotically Optimal Gathering on a Grid
Asymptotically Optimal Gathering on a Grid
In this paper, we solve the local gathering problem of a swarm of n indistinguishable, point-shaped robots on a two-dimensional grid in asymptotically optimal time O(n) in the fully synchronous FSYNC time model. Given an arbitrarily distributed (yet connected) swarm of robots, the gathering problem on the grid is to …