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Learning with Simulators: No Regret in a Computationally Bounded World Temporal Conductance and Bounds on the Voter Model for Dynamic Networks Diffusion-Network Alignment: An Efficient Algorithm and Explicit Probability Bounds A unified complexity bound for logconcave sampling Nearly Instance Optimal Sparse Matrix Approximation from Matrix-Vector Products Near-Optimal Distributed 2-Ruling Sets on Graphs with Low Arboricity On finding exact solutions of linear programs in the oracle model A Fast Gaussian Mechanism under Continual Observation, with Applications Beyond Frequency Marching: Orbit Recovery in Dihedral and Projected Multireference Alignment Density estimation for Hellinger via minimum-distance estimators: mixtures of Gaussians, log-concave, and more A Unified Lower Bound on the Noisy Query Complexity of Boolean Functions The Power of Test-Time Training for Approximate Sampling Fixed-Parameter Tractability of Private Synthetic Data Generation Express Language Modeling The 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Symmetry Preservation in Swarms of Oblivious Robots with Limited Visibility
Raphael Gerlach, Sören von der Gracht, Christopher Hahn, Jonas H · 2024-09-28 · via cs.DS updates on arXiv.org

In the general pattern formation (GPF) problem, a swarm of simple autonomous, disoriented robots must form a given pattern. The robots' simplicity imply a strong limitation: When the initial configuration is rotationally symmetric, only patterns with a similar symmetry can be formed [Yamashita, Suzyuki; TCS 2010]. The only known algorithm to form large patterns with limited visibility and without memory requires the robots to start in a near-gathering (a swarm of constant diameter) [Hahn et al.; SAND 2024]. However, not only do we not know any near-gathering algorithm guaranteed to preserve symmetry but most natural gathering strategies trivially increase symmetries [Castenow et al.; OPODIS 2022]. Thus, we study near-gathering without changing the swarm's rotational symmetry for disoriented, oblivious robots with limited visibility (the OBLOT-model, see [Flocchini et al.; 2019]). We introduce a technique based on the theory of dynamical systems to analyze how a given algorithm affects symmetry and provide sufficient conditions for symmetry preservation. Until now, it was unknown whether the considered OBLOT-model allows for any non-trivial algorithm that always preserves symmetry. Our first result shows that a variant of Go-to-the-Average always preserves symmetry but may sometimes lead to multiple, unconnected near-gathering clusters. Our second result is a symmetry-preserving near-gathering algorithm that works on swarms with a convex boundary (the outer boundary of the unit disc graph) and without holes (circles of diameter 1 inside the boundary without any robots).