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Coalescing Swarms of Limited Capacity Agents Meeting and Staying Together (without trust).doc

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Coalescing Swarms of Limited Capacity Agents Meeting and Staying Together (without trust)

IAENG International Journal of Computer Science, 39:3, IJCS_39_3_04 ______________________________________________________________________________________ CoalescingSwarmsofLimitedCapacityAgents: MeetingandStayingTogether(withouttrust) LutherA.TychonievichandJamesP.Cohoon Abstract—Weconsiderthecoalescenceorgatheringproblem: The remainder of this paper is organized as follows. a set of k mobile agents (robots) with distinct identi?ers have SectionIIcontainsbasicde?nitionsandbackgroundtheorems. tolocateoneanotherandgatheratacommonlocation.Agents Section III describes coalescence for swarms small enough to all observe asingle agent; we arriveat an algorithm for coalescing despite sensor noise and an arbitrary number of mayfaceseveralchallenges:swarmsofagentmaybetoolarge to simultaneously observe one another, agent sensors may be subject to noise, and some agents may be malicious. Forsmallswarms,wedesignanalgorithmcoalescingalltrust- maliciousagents.SectionIVdescribescoalescenceforlarger worthy agents despite sensor noise and an arbitrary number swarms,presentingalgorithmsforlimited-informationglobal ofmaliciousagents.Thisalgorithmrequiresthatallcoalescing cohesion and for maintaining trustworthy communication in a swarm containing malicious agents as well as a large- swarm coalescence algorithm. Section V contains a survey agentsbeabletosimultaneouslyobserveasingleagent,limiting itspracticalscalability.Forarbitrarilylargeswarmswedesign an algorithm achieving coalescence as long as the number of malicious agents near any given trustworthy agent is bounded. ofotherapproachestocoalescenceandofexistingmethods In both cases, our algorithms work by reduction to black- forachievingcohesionandrendezvous.Weconcludewitha box solutions to well-studied problems, allowing them to be summaryofresultsandsomesuggestionsforfuturework. used in any environment and for any type of agents for which deterministicrendezvous,agentstateestimation,andpair-wise II. TERMINOLOGY A. Agents