1. Franck Petit INRIA, LIP Lab. Univ. / ENS of Lyon France Optimal Probabilistic Ring Exploration by Semi-Synchronous Oblivious Robots Joint work with Stéphane Devismes, VERIMAG, Grenoble, France Sébastien Tixeuil, Univ. Pierre et Marie Curie - Paris 6, France

2. Context o A team of k “weak” robots evolving into a ring of n nodes 2F. Petit – SIROCCO 2009 o Autonomous: No central authority o Anonymous: Undistinguishable o Oblivious: No mean to know the past o Disoriented: No mean to agree on a common direction or orientation

3. Context o A team of k “weak” robots evolving into a ring of n nodes 3F. Petit – SIROCCO 2009 o Atomicity: In every configuration, each robot is located at exactly one node o Multiplicity: In every configuration, each node contains zero, one, or more than one robot (every robot is able to detect it)

4. Context o A team of k “weak” robots evolving into a ring of n nodes 4F. Petit – SIROCCO 2009 o SSM: In every configuration, k’ robots are activated (0 < k’ ≤ k) 1. Look: Instantaneous snapshot with multiplicity detection o The k’ activated robots execute the cycle: 2. Compute : Based on this observation, decides to either stay idle or move to one of the neighboring nodes 3. Move: Move toward its destination

5. Problem o Exploration: Each node must be visited by at least one robot o Termination: Eventually, every robot stays idle 5F. Petit – SIROCCO 2009 o Performance: Number of robots (k<n) Starting from a configuration where no two robots are located at the same node:

6. Related works (Deterministic) o Tree networks Ω(n) robots are necessary in general A deterministic algorithm with O(log n/log log n) robots, assuming that Δ ≤ 3 [Flocchini, Ilcinkas, Pelc, Santoro, SIROCCO 08] o Ring networks Θ(log n) robots are necessary and sufficient, provided that n and k are coprime A deterministic algorithm for k ≥ 17 [Flocchini, Ilcinkas, Pelc, Santoro, OPODIS 07] 6F. Petit – SIROCCO 2009

7. Contribution o n and k are not required to be coprime 1. Exploration impossible with less than 4 robots 2. An algorithm working with 4 probabilistic robots (n > 8) 7F. Petit – SIROCCO 2009 Theorem. 4 probabilistic robots are necessary and sufficient, provided that n > 8

8. Oblivious Robots 8F. Petit – SIROCCO 2009 At least one configuration that cannot be an initial configuration Remark. If n > k, any terminal configuration of any protocol contains at least one tower. TerminationExploration Implicit memory

9. Tower 9F. Petit – SIROCCO 2009 Definition. A node with at least two robots. k ≥ 2

10. Tower Building 10F. Petit – SIROCCO 2009 Can be an initial configuration Cannot be a terminal configuration

11. Enabling Exploration 11F. Petit – SIROCCO 2009 k ≥ 3 Lemma. Every execution must contain a suffix of at least n–k+1 configurations containing a tower of less than k robots and any two of them are distinguishable.

12. Enabling Exploration 12F. Petit – SIROCCO 2009 Two undistinguishable configurations Two other undistinguishable configurations Lemma. With 3 robots and a fixed tower of 2 robots, the maximum number of distinguishable configurations is equal to.

13. Enabling Exploration 13F. Petit – SIROCCO 2009 Lemma. For every n > 4, there exists no exploration protocol (even probabilistic) of a n-size ring with 3 robots. Proof :

14. Negative result 14F. Petit – SIROCCO 2009 Theorem. For every n ≥ 4, there exists no exploration protocol (even probabilistic) of a n-size ring with three robots. Proof : There exists no protocol with 3 robots in a 4-size ring with a distributed scheduler.

15. Contribution o n and k are not required to be coprime 1. Exploration impossible with less than 4 robots 2. Give an algorithm working with 4 probabilistic robots (n > 8) 15F. Petit – SIROCCO 2009 Theorem. 4 probabilistic robots are necessary and sufficient, provided that n > 8

16. Definitions 16F. Petit – SIROCCO 2009 Segment. A maximal non-empty elementary path of occupied nodes. 2 segments of length 1 a 2-segment

17. Definitions 17F. Petit – SIROCCO 2009 Hole. A maximal non-empty elementary path of free nodes. 1 hole of length 4 a 2-hole

18. Definitions 18F. Petit – SIROCCO 2009 Arrow. A 1-segment, followed by a non-empty elementary path of free nodes, a tower, and a 1-segment. 1 arrow Head of length 4 Tail

19. Definitions 19F. Petit – SIROCCO 2009 Arrow. A 1-segment, followed by a non-empty elementary path of free nodes, a tower, and a 1-segment. final arrow

20. Definitions 20F. Petit – SIROCCO 2009 Arrow. A 1-segment, followed by a non-empty elementary path of free nodes, a tower, and a 1-segment. Primary arrow

21. Algorithm 21F. Petit – SIROCCO 2009 o Initially, there is no tower 1. Converge toward a 4-segment 2. Build a tower 3. Visit the ring and terminate 0 0 If I am an internal node, then I try to move on the other internal node. 1

22. Algorithm 22F. Petit – SIROCCO 2009 o Initially, there is no tower 1. Converge toward a 4-segment 2. Build a tower 3. Visit the ring and terminate  Primary arrow

23. Algorithm 23F. Petit – SIROCCO 2009 o Initially, there is no tower 1. Converge toward a 4-segment 2. Build a tower 3. Visit the ring and terminate   Final arrow  Primary arrow

24. Algorithm 24F. Petit – SIROCCO 2009 o Initially, there is no tower 1. Converge toward a 4-segment 2. Build a tower 3. Visit the ring and terminate a)3-segment   Final arrow  Primary arrow If I am the isolated node, then I move through a shortest hole.

25. Algorithm 25F. Petit – SIROCCO 2009 o Initially, there is no tower 1. Converge toward a 4-segment 2. Build a tower 3. Visit the ring and terminate a)3-segment b)a unique 2-segment   Final arrow  Primary arrow If I am at the closest distance from the 2- segment, then I move toward the closest extremity.

26. Algorithm 26F. Petit – SIROCCO 2009 o Initially, there is no tower 1. Converge toward a 4-segment 2. Build a tower 3. Visit the ring and terminate a)3-segment b)a unique 2-segment c)two 2-segments   Final arrow  Primary arrow If I am a neighbor of the longest hole, then I try to move toward the other 2- segment. 1 0

27. Algorithm 27F. Petit – SIROCCO 2009 o Initially, there is no tower 1. Converge toward a 4-segment 2. Build a tower 3. Visit the ring and terminate a)3-segment b)a unique 2-segment c)two 2-segments d)four isolated nodes   Final arrow  Primary arrow L: length of the longest hole If 4 robots are neighbors of an L-hole, then I try to move through my longest neighboring hole. 1 0

28. Algorithm 28F. Petit – SIROCCO 2009 o Initially, there is no tower 1. Converge toward a 4-segment 2. Build a tower 3. Visit the ring and terminate a)3-segment b)a unique 2-segment c)two 2-segments d)four isolated nodes   Final arrow  Primary arrow L: length of the longest hole If 3 robots are neighbors of an L-hole, then if I am one of this 3 robots and a neighbor of a smaller hole h, then I move through h.

29. Algorithm 29F. Petit – SIROCCO 2009 o Initially, there is no tower 1. Converge toward a 4-segment 2. Build a tower 3. Visit the ring and terminate a)3-segment b)a unique 2-segment c)two 2-segments d)four isolated nodes   Final arrow  Primary arrow L: length of the longest hole If 2 robots are neighbors of an L-hole, then if I am neighbor of the L-hole, then I move through the other neighboring hole.

30. Phase 1, Summary 30F. Petit – SIROCCO 2009

31. Proof 31F. Petit – SIROCCO 2009 Lemma. No tower is created during Phase 1 in a n-ring with n > 8. Proof Base: With n > 8 and 4 robots, there always exists a hole of length greater than 1.

32. Proof 32F. Petit – SIROCCO 2009 Lemma. No tower is created during Phase 1 in a n-ring with n > 8. Lemma. Starting from any initial configuration, the system reaches in finite expected time a configuration containing a 4- segment. Theorem. The algorithm (Phases 1 to 3) is a probabilistic exploration protocol for 4 robots in a ring of n > 8 nodes.

33. Conclusion o 4 probabilistic robots are necessary and sufficient, provided that n > 8 o Future works:  Ad hoc solutions for n ≤ 8 (done)  Convergence time  Full asynchronous model 33F. Petit – SIROCCO 2009

34. Conclusion 34F. Petit – SIROCCO 2009 Thank you.