arXiv subjects

Giovanni Viglietta

Publications and source records attributed to Giovanni Viglietta.

At least 37 records · Page 2Linked to original sources

arXiv2018

TuringMobile: A Turing Machine of Oblivious Mobile Robots with Limited Visibility and its Applications

In this paper we investigate the computational power of a set of mobile robots with limited visibility. At each iteration, a robot takes a snapshot of its surroundings, uses the snapshot to compute a destination point, and it moves toward its destination. Each robot is punctiform and memoryless, it operates in $\mathbb{R}^m$, it has a local reference system independent of the other robots' ones, and is activated asynchronously by an adversarial scheduler. Moreover, robots are non-rigid, in that they may be stopped by the scheduler at each move before reaching their destination (but are guaranteed to travel at least a fixed unknown distance before being stopped). We show that despite these strong limitations, it is possible to arrange $3m+3k$ of these weak entities in $\mathbb{R}^m$ to simulate the behavior of a stronger robot that is rigid (i.e., it always reaches its destination) and is endowed with $k$ registers of persistent memory, each of which can store a real number. We call this arrangement a TuringMobile. In its simplest form, a TuringMobile consisting of only three robots can travel in the plane and store and update a single real number. We also prove that this task is impossible with fewer than three robots. Among the applications of the TuringMobile, we focused on Near-Gathering (all robots have to gather in a small-enough disk) and Pattern Formation (of which Gathering is a special case) with limited visibility. Interestingly, our investigation implies that both problems are solvable in Euclidean spaces of any dimension, even if the visibility graph of the robots is initially disconnected, provided that a small amount of these robots are arranged to form a TuringMobile. In the special case of the plane, a basic TuringMobile of only three robots is sufficient.

cs.DC↗

arXiv2017

Shape Formation by Programmable Particles

Shape formation is a basic distributed problem for systems of computational mobile entities. Intensively studied for systems of autonomous mobile robots, it has recently been investigated in the realm of programmable matter. Namely, it has been studied in the geometric Amoebot model, where the anonymous entities, called particles, operate on a hexagonal tessellation of the plane and have limited computational power (they have constant memory), strictly local interaction and communication capabilities (only with particles in neighboring nodes of the grid), and limited motorial capabilities (from a grid node to an empty neighboring node); their activation is controlled by an adversarial scheduler. Recent investigations have shown how, starting from a well-structured configuration in which the particles form a (not necessarily complete) triangle, the particles can form a large class of shapes. This result has been established under several assumptions: agreement on the clockwise direction (i.e., chirality), a sequential activation schedule, and randomization (i.e., particles can flip coins). In this paper we provide a characterization of which shapes can be formed deterministically starting from any simply connected initial configuration of $n$ particles. As a byproduct, if randomization is allowed, then any input shape can be formed from any initial (simply connected) shape by our algorithm, provided that $n$ is large enough. Our algorithm works without chirality, proving that chirality is computationally irrelevant for shape formation. Furthermore, it works under a strong adversarial scheduler, not necessarily sequential. We also consider the complexity of shape formation in terms of both the number of rounds and of moves performed by the particles. We prove that our solution has a complexity of $O(n^2)$ rounds and moves: this number of moves is also asymptotically optimal.

cs.DC↗

arXiv2017

Line-Recovery by Programmable Particles

Shape formation has been recently studied in distributed systems of programmable particles. In this paper we consider the shape recovery problem of restoring the shape when $f$ of the $n$ particles have crashed. We focus on the basic line shape, used as a tool for the construction of more complex configurations. We present a solution to the line recovery problem by the non-faulty anonymous particles; the solution works regardless of the initial distribution and number $f<n-4$ of faults, of the local orientations of the non-faulty entities, and of the number of non-faulty entities activated in each round (i.e., semi-synchronous adversarial scheduler).

cs.DC↗

arXiv2017

Gathering in Dynamic Rings

The gathering problem requires a set of mobile agents, arbitrarily positioned at different nodes of a network to group within finite time at the same location, not fixed in advanced. The extensive existing literature on this problem shares the same fundamental assumption: the topological structure does not change during the rendezvous or the gathering; this is true also for those investigations that consider faulty nodes. In other words, they only consider static graphs. In this paper we start the investigation of gathering in dynamic graphs, that is networks where the topology changes continuously and at unpredictable locations. We study the feasibility of gathering mobile agents, identical and without explicit communication capabilities, in a dynamic ring of anonymous nodes; the class of dynamics we consider is the classic 1-interval-connectivity. We focus on the impact that factors such as chirality (i.e., a common sense of orientation) and cross detection (i.e., the ability to detect, when traversing an edge, whether some agent is traversing it in the other direction), have on the solvability of the problem. We provide a complete characterization of the classes of initial configurations from which the gathering problem is solvable in presence and in absence of cross detection and of chirality. The feasibility results of the characterization are all constructive: we provide distributed algorithms that allow the agents to gather. In particular, the protocols for gathering with cross detection are time optimal. We also show that cross detection is a powerful computational element. We prove that, without chirality, knowledge of the ring size is strictly more powerful than knowledge of the number of agents; on the other hand, with chirality, knowledge of n can be substituted by knowledge of k, yielding the same classes of feasible initial configurations.

cs.DC↗

arXiv2017

Distributed Computing by Mobile Robots: Uniform Circle Formation

Consider a set of $n$ simple autonomous mobile robots (asynchronous, no common coordinate system, no identities, no central coordination, no direct communication, no memory of the past, non-rigid, deterministic) initially in distinct locations, moving freely in the plane and able to sense the positions of the other robots. We study the primitive task of the robots arranging themselves on the vertices of a regular $n$-gon not fixed in advance (Uniform Circle Formation). In the literature, the existing algorithmic contributions are limited to conveniently restricted sets of initial configurations of the robots and to more powerful robots. The question of whether such simple robots could deterministically form a uniform circle has remained open. In this paper, we constructively prove that indeed the Uniform Circle Formation problem is solvable for any initial configuration in which the robots are in distinct locations, without any additional assumption (if two robots are in the same location, the problem is easily seen to be unsolvable). In addition to closing a long-standing problem, the result of this paper also implies that, for pattern formation, asynchrony is not a computational handicap, and that additional powers such as chirality and rigidity are computationally irrelevant.

cs.DC↗

arXiv2016

Population Protocols with Faulty Interactions: the Impact of a Leader

We consider the problem of simulating traditional population protocols under weaker models of communication, which include one-way interactions (as opposed to two-way interactions) and omission faults (i.e., failure by an agent to read its partner's state during an interaction), which in turn may be detectable or undetectable. We focus on the impact of a leader, and we give a complete characterization of the models in which the presence of a unique leader in the system allows the construction of simulators: when simulations are possible, we give explicit protocols; when they are not, we give proofs of impossibility. Specifically, if each agent has only a finite amount of memory, the simulation is possible only if there are no omission faults. If agents have an unbounded amount of memory, the simulation is possible as long as omissions are detectable. If an upper bound on the number of omissions involving the leader is known, the simulation is always possible, except in the one-way model in which one side is unable to detect the interaction.

cs.DC↗

arXiv2016

On the Power of Weaker Pairwise Interaction: Fault-Tolerant Simulation of Population Protocols

In this paper we investigate the computational power of Population Protocols (PP) under some unreliable and/or weaker interaction models. More precisely, we focus on two features related to the power of interactions: omission failures and one-way communications. An omission failure, a notion that this paper introduces for the first time in the context of PP, is the loss by one or both parties of the information transmitted in an interaction. The failure may or may not be detected by either party. On the other hand, in one-way models, communication happens only in one direction: only one of the two agents can change its state depending on both agents' states, and the other agent may or may not be aware of the interaction. These notions can be combined, obtaining one-way protocols with (possibly detectable) omission failures. A general question is what additional power is necessary and sufficient to completely overcome the weakness of one-way protocols and enable them to simulate two-way protocols, with and without omission failures. As a basic feature, a simulator needs to implement an atomic communication of states between two agents; this task is further complicated by the anonymity of the agents, their lack of knowledge of the system, and the limited amount of memory that they may have. We provide the first answers to these questions by presenting and analyzing several simulators, i.e., wrapper protocols converting any protocol for the standard two-way model into one running on a weaker one.

cs.DC↗

arXiv2016

Universal Systems of Oblivious Mobile Robots

An oblivious mobile robot is a stateless computational entity located in a spatial universe, capable of moving in that universe. When activated, the robot observes the universe and the location of the other robots, chooses a destination, and moves there. The computation of the destination is made by executing an algorithm, the same for all robots, whose sole input is the current observation. No memory of all these actions is retained after the move. When the universe is a graph, distributed computations by oblivious mobile robots have been intensively studied focusing on the conditions for feasibility of basic problems (e.g., gathering, exploration) in specific classes of graphs under different schedulers. In this paper, we embark on a different, more general, type of investigation. With their movements from vertices to neighboring vertices, the robots make the system transition from one configuration to another. Viewing this transition as the computation of an abstract function, we ask which functions are computed by which systems. Our main interest is on identifying sets of systems that are "universal", in the sense that they can collectively compute all finite functions. We are able to identify several such classes of fully synchronous systems. In particular, among other results, we prove the universality of the set of all graphs with at least one robot, of any set of graphs with at least two robots whose quotient graphs contain arbitrarily long paths, and of any set of graphs with at least three robots and arbitrarily large finite girths. We then focus on the minimum size that a network must have for the robots to be able to compute all functions on a given finite set. We are able to approximate the minimum size of such a network up to a factor that tends to 2 as $n$ goes to infinity.

cs.DC↗

arXiv2016

Square Formation by Asynchronous Oblivious Robots

A fundamental problem in Distributed Computing is the Pattern Formation problem, where some independent mobile entities, called robots, have to rearrange themselves in such a way as to form a given figure from every possible (non-degenerate) initial configuration. In the present paper, we consider robots that operate in the Euclidean plane and are dimensionless, anonymous, oblivious, silent, asynchronous, disoriented, non-chiral, and non-rigid. For this very elementary type of robots, the feasibility of the Pattern Formation problem has been settled, either in the positive or in the negative, for every possible pattern, except for one case: the Square Formation problem by a team of four robots. Here we solve this last case by giving a Square Formation algorithm and proving its correctness. Our contribution represents the concluding chapter in a long thread of research. Our results imply that in the context of the Pattern Formation problem for mobile robots, features such as synchronicity, chirality, and rigidity are computationally irrelevant.

cs.DC↗

arXiv2015

The Shadows of a Cycle Cannot All Be Paths

A "shadow" of a subset $S$ of Euclidean space is an orthogonal projection of $S$ into one of the coordinate hyperplanes. In this paper we show that it is not possible for all three shadows of a cycle (i.e., a simple closed curve) in $\mathbb R^3$ to be paths (i.e., simple open curves). We also show two contrasting results: the three shadows of a path in $\mathbb R^3$ can all be cycles (although not all convex) and, for every $d\geq 1$, there exists a $d$-sphere embedded in $\mathbb R^{d+2}$ whose $d+2$ shadows have no holes (i.e., they deformation-retract onto a point).

cs.CG↗

arXiv2015

Simulating a die roll by flipping two coins

We show how to simulate a roll of a fair $n$-sided die by one flip of a biased coin with probability $1/n$ of coming up heads, followed by $3\lfloor\log_2 n \rfloor+1$ flips of a fair coin.

math.CO↗

arXiv2015

Getting Close Without Touching: Near-Gathering for Autonomous Mobile Robots

In this paper we study the Near-Gathering problem for a finite set of dimensionless, deterministic, asynchronous, anonymous, oblivious and autonomous mobile robots with limited visibility moving in the Euclidean plane in Look-Compute-Move (LCM) cycles. In this problem, the robots have to get close enough to each other, so that every robot can see all the others, without touching (i.e., colliding with) any other robot. The importance of solving the Near-Gathering problem is that it makes it possible to overcome the restriction of having robots with limited visibility. Hence it allows to exploit all the studies (the majority, actually) done on this topic in the unlimited visibility setting. Indeed, after the robots get close enough to each other, they are able to see all the robots in the system, a scenario that is similar to the one where the robots have unlimited visibility. We present the first (deterministic) algorithm for the Near-Gathering problem, to the best of our knowledge, which allows a set of autonomous mobile robots to nearly gather within finite time without ever colliding. Our algorithm assumes some reasonable conditions on the input configuration (the Near-Gathering problem is easily seen to be unsolvable in general). Further, all the robots are assumed to have a compass (hence they agree on the "North" direction), but they do not necessarily have the same handedness (hence they may disagree on the clockwise direction). We also show how the robots can detect termination, i.e., detect when the Near-Gathering problem has been solved. This is crucial when the robots have to perform a generic task after having nearly gathered. We show that termination detection can be obtained even if the total number of robots is unknown to the robots themselves (i.e., it is not a parameter of the algorithm), and robots have no way to explicitly communicate.

cs.DC↗

arXiv2015

Classic Nintendo Games are (Computationally) Hard

We prove NP-hardness results for five of Nintendo's largest video game franchises: Mario, Donkey Kong, Legend of Zelda, Metroid, and Pokemon. Our results apply to generalized versions of Super Mario Bros. 1-3, The Lost Levels, and Super Mario World; Donkey Kong Country 1-3; all Legend of Zelda games; all Metroid games; and all Pokemon role-playing games. In addition, we prove PSPACE-completeness of the Donkey Kong Country games and several Legend of Zelda games.

cs.CC↗

arXiv2015

Lemmings is PSPACE-complete

Lemmings is a computer puzzle game developed by DMA Design and published by Psygnosis in 1991, in which the player has to guide a tribe of lemming creatures to safety through a hazardous landscape, by assigning them specific skills that modify their behavior in different ways. In this paper we study the optimization problem of saving the highest number of lemmings in a given landscape with a given number of available skills. We prove that the game is PSPACE-complete, even if there is only one lemming to save, and only Builder and Basher skills are available. We thereby settle an open problem posed by Cormode in 2004, and again by Forisek in 2010. However we also prove that, if we restrict the game to levels in which the available Builder skills are only polynomially many (and there is any number of other skills), then the game is solvable in NP. Similarly, if the available Basher, Miner, and Digger skills are polynomially many, the game is solvable in NP. Furthermore, we show that saving the maximum number of lemmings is APX-hard, even when only one type of skill is available, whatever this skill is. This contrasts with the membership in P of the decision problem restricted to levels with no "deadly areas" (such as water or traps) and only Climber and Floater skills, as previously established by Cormode.

cs.GT↗

arXiv2014

Face-Guarding Polyhedra

We study the Art Gallery Problem for face guards in polyhedral environments. The problem can be informally stated as: how many (not necessarily convex) windows should we place on the external walls of a dark building, in order to completely illuminate its interior? We consider both closed and open face guards (i.e., faces with or without their boundary), and we study several classes of polyhedra, including orthogonal polyhedra, 4-oriented polyhedra, and 2-reflex orthostacks. We give upper and lower bounds on the minimum number of faces required to guard the interior of a given polyhedron in each of these classes, in terms of the total number of its faces, f. In several cases our bounds are tight: f/6 open face guards for orthogonal polyhedra and 2-reflex orthostacks, and f/4 open face guards for 4-oriented polyhedra. Additionally, for closed face guards in 2-reflex orthostacks, we give a lower bound of (f+3)/9 and an upper bound of (f+1)/7. Then we show that it is NP-hard to approximate the minimum number of (closed or open) face guards within a factor of Omega(log f), even for polyhedra that are orthogonal and simply connected. We also obtain the same hardness results for polyhedral terrains. Along the way we discuss some applications, arguing that face guards are not a reasonable model for guards patrolling on the surface of a polyhedron.

cs.CG↗

arXiv2013

Gaming is a hard job, but someone has to do it!

We establish some general schemes relating the computational complexity of a video game to the presence of certain common elements or mechanics, such as destroyable paths, collectible items, doors opened by keys or activated by buttons or pressure plates, etc. Then we apply such "metatheorems" to several video games published between 1980 and 1998, including Pac-Man, Tron, Lode Runner, Boulder Dash, Deflektor, Mindbender, Pipe Mania, Skweek, Prince of Persia, Lemmings, Doom, Puzzle Bobble~3, and Starcraft. We obtain both new results, and improvements or alternative proofs of previously known results.

cs.CC↗

arXiv2013

Partial Searchlight Scheduling is Strongly PSPACE-Complete

The problem of searching a polygonal region for an unpredictably moving intruder by a set of stationary guards, each carrying an orientable laser, is known as the Searchlight Scheduling Problem. Determining the computational complexity of deciding if the polygon can be searched by a given set of guards is a long-standing open problem. Here we propose a generalization called the Partial Searchlight Scheduling Problem, in which only a given subregion of the environment has to be searched, as opposed to the entire area. We prove that the corresponding decision problem is strongly PSPACE-complete, both in general and restricted to orthogonal polygons where the region to be searched is a rectangle. Our technique is to reduce from the "edge-to-edge" problem for nondeterministic constraint logic machines, after showing that the computational power of such machines does not change if we allow "asynchronous" edge reversals (as opposed to "sequential").

cs.CG↗

arXiv2013

Rendezvous of Two Robots with Constant Memory

We study the impact that persistent memory has on the classical rendezvous problem of two mobile computational entities, called robots, in the plane. It is well known that, without additional assumptions, rendezvous is impossible if the entities are oblivious (i.e., have no persistent memory) even if the system is semi-synchronous (SSynch). It has been recently shown that rendezvous is possible even if the system is asynchronous (ASynch) if each robot is endowed with O(1) bits of persistent memory, can transmit O(1) bits in each cycle, and can remember (i.e., can persistently store) the last received transmission. This setting is overly powerful. In this paper we weaken that setting in two different ways: (1) by maintaining the O(1) bits of persistent memory but removing the communication capabilities; and (2) by maintaining the O(1) transmission capability and the ability to remember the last received transmission, but removing the ability of an agent to remember its previous activities. We call the former setting finite-state (FState) and the latter finite-communication (FComm). Note that, even though its use is very different, in both settings, the amount of persistent memory of a robot is constant. We investigate the rendezvous problem in these two weaker settings. We model both settings as a system of robots endowed with visible lights: in FState, a robot can only see its own light, while in FComm a robot can only see the other robot's light. We prove, among other things, that finite-state robots can rendezvous in SSynch, and that finite-communication robots are able to rendezvous even in ASynch. All proofs are constructive: in each setting, we present a protocol that allows the two robots to rendezvous in finite time.

cs.MA↗