Distance-2-Dispersion: Dispersion with Further Constraints

TL;DR

This paper introduces the Distance-2-Dispersion problem, a variant of robot dispersion on graphs with the constraint that no two adjacent nodes contain robots, and provides an algorithm with complexity bounds for solving it.

Contribution

The paper formulates the Distance-2-Dispersion problem with adjacency constraints and presents an algorithm that operates efficiently without global graph knowledge.

Findings

Algorithm terminates in 2Δ(8m-3n+3) rounds

Uses O(log Δ) memory per robot

Provides an Ω(mΔ) lower bound on rounds

Abstract

The aim of the dispersion problem is to place a set of $k(\leq n)$ mobile robots in the nodes of an unknown graph consisting of $n$ nodes such that in the final configuration each node contains at most one robot, starting from any arbitrary initial configuration of the robots on the graph. In this work we propose a variant of the dispersion problem where we start with any number of robots, and put an additional constraint that no two adjacent nodes contain robots in the final configuration. We name this problem as Distance-2-Dispersion (D-2-D). However, even if the number of robots $k$ is less than $n$, it may not possible for each robot to find a distinct node to reside, maintaining our added constraint. Specifically, if a maximal independent set is already formed by the nodes which contain a robot each, then other robots, if any, who are searching for a node to seat, will not find one. Hence we allow multiple robots to seat on some nodes only if there is no place to seat. If $k\geq n$, it is guaranteed that the nodes with robots form a maximal independent set of the underlying network. The graph $G=(V, E)$ has $n$ nodes and $m$ edges, where nodes are anonymous. It is a port labelled graph, i.e., each node $u$ assigns a distinct port number to each of its incident edges from a range $[0,\delta-1]$ where $\delta$ is the degree of the node $u$. The robots have unique ids in the range $[1, L]$, where $L \ge k$. Co-located robots can communicate among themselves. We provide an algorithm that solves D-2-D starting from a rooted configuration (i.e., initially all the robots are co-located) and terminate after $2\Delta(8m-3n+3)$ synchronous rounds using $O(log \Delta)$ memory per robot without using any global knowledge of the graph parameters $m$, $n$ and $\Delta$, the maximum degree of the graph. We also provide $\Omega(m\Delta)$ lower bound on the number of rounds for the D-2-D problem.