{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,19]],"date-time":"2025-06-19T04:35:04Z","timestamp":1750307704616,"version":"3.41.0"},"reference-count":31,"publisher":"Association for Computing Machinery (ACM)","issue":"3","license":[{"start":{"date-parts":[[2009,7,1]],"date-time":"2009-07-01T00:00:00Z","timestamp":1246406400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"DOI":"10.13039\/100000144","name":"Division of Computer and Network Systems","doi-asserted-by":"publisher","award":["CNS-0614993"],"award-info":[{"award-number":["CNS-0614993"]}],"id":[{"id":"10.13039\/100000144","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Auton. Adapt. Syst."],"published-print":{"date-parts":[[2009,7]]},"abstract":"<jats:p>\n            We describe how a set of mobile robots can arrange themselves on any specified curve on the plane in the presence of dynamic changes both in the underlying ad hoc network and in the set of participating robots. Our strategy is for the mobile robots to implement a\n            <jats:italic>self-stabilizing virtual layer<\/jats:italic>\n            consisting of mobile client nodes, stationary Virtual Nodes (VNs), and local broadcast communication. The VNs are associated with predetermined regions in the plane and coordinate among themselves to distribute the client nodes relatively uniformly among the VNs' regions. Each VN directs its local client nodes to align themselves on the local portion of the target curve. The resulting motion coordination protocol is self-stabilizing, in that each robot can begin the execution in any arbitrary state and at any arbitrary location in the plane. In addition, self-stabilization ensures that the robots can adapt to changes in the desired target formation.\n          <\/jats:p>","DOI":"10.1145\/1552297.1552300","type":"journal-article","created":{"date-parts":[[2009,7,28]],"date-time":"2009-07-28T12:43:55Z","timestamp":1248785035000},"page":"1-29","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":18,"title":["Self-stabilizing robot formations over unreliable networks"],"prefix":"10.1145","volume":"4","author":[{"given":"Seth","family":"Gilbert","sequence":"first","affiliation":[{"name":"Ecole Polytechnique F\u00e9d\u00e9rale, Lausanne"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nancy","family":"Lynch","sequence":"additional","affiliation":[{"name":"Massachusetts Institute of Technology"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sayan","family":"Mitra","sequence":"additional","affiliation":[{"name":"University of Illinois at Urbana-Champaign"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tina","family":"Nolte","sequence":"additional","affiliation":[{"name":"Massachusetts Institute of Technology"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2009,7,24]]},"reference":[{"key":"e_1_2_2_1_1","doi-asserted-by":"publisher","DOI":"10.1109\/70.795787"},{"volume-title":"Proceedings of the Joint 44th IEEE Conference on Decision and Control and European Control Conference. 2996--3000","author":"Blondel V.","key":"e_1_2_2_2_1","unstructured":"]] Blondel , V. , Hendrickx , J. , Olshevsky , A. , and Tsitsiklis , J . 2005. Convergence in multi-agent coordination consensus and flocking . In Proceedings of the Joint 44th IEEE Conference on Decision and Control and European Control Conference. 2996--3000 . ]]Blondel, V., Hendrickx, J., Olshevsky, A., and Tsitsiklis, J. 2005. Convergence in multi-agent coordination consensus and flocking. In Proceedings of the Joint 44th IEEE Conference on Decision and Control and European Control Conference. 2996--3000."},{"key":"e_1_2_2_4_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-85778-5_16"},{"key":"e_1_2_2_5_1","doi-asserted-by":"publisher","DOI":"10.1145\/1400751.1400783"},{"volume-title":"Proceedings of the American Control Conference.","author":"Clavaski S.","key":"e_1_2_2_6_1","unstructured":"]] Clavaski , S. , Chaves , M. , Day , R. , Nag , P. , Williams , A. , and Zhang , W . 2003. Vehicle networks: Achieving regular formation . In Proceedings of the American Control Conference. ]]Clavaski, S., Chaves, M., Day, R., Nag, P., Williams, A., and Zhang, W. 2003. Vehicle networks: Achieving regular formation. In Proceedings of the American Control Conference."},{"key":"e_1_2_2_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2004.824698"},{"key":"e_1_2_2_8_1","doi-asserted-by":"publisher","DOI":"10.1145\/584490.584509"},{"key":"e_1_2_2_9_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.tcs.2008.01.050"},{"key":"e_1_2_2_10_1","doi-asserted-by":"crossref","unstructured":"]]Dolev S. 2000. Self-Stabilization. MIT Press Cambridge.   ]]Dolev S. 2000. Self-Stabilization. MIT Press Cambridge.","DOI":"10.7551\/mitpress\/6156.001.0001"},{"key":"e_1_2_2_11_1","doi-asserted-by":"publisher","DOI":"10.1145\/1073814.1073876"},{"key":"e_1_2_2_12_1","doi-asserted-by":"crossref","unstructured":"]]Dolev S. Gilbert S. Lahiani L. Lynch N. A. and Nolte T. A. 2005b. Virtual stationary automata for mobile networks. Tech. rep. MIT-LCS-TR-979.  ]]Dolev S. Gilbert S. Lahiani L. Lynch N. A. and Nolte T. A. 2005b. Virtual stationary automata for mobile networks. Tech. rep. MIT-LCS-TR-979.","DOI":"10.21236\/ADA467098"},{"key":"e_1_2_2_13_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-39989-6_22"},{"key":"e_1_2_2_14_1","doi-asserted-by":"publisher","DOI":"10.1145\/1011767.1011845"},{"key":"e_1_2_2_15_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00446-005-0140-9"},{"key":"e_1_2_2_16_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-69507-3_5"},{"key":"e_1_2_2_17_1","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2004.834433"},{"volume-title":"Proceedings of the Colloquium on Structural Information and Communication Complexity (SIROCCO). 147--162","author":"Flocchini P.","key":"e_1_2_2_18_1","unstructured":"]] Flocchini , P. , Prencipe , G. , Santoro , N. , and Widmayer , P . 2001. Pattern formation by autonomous robots without chirality . In Proceedings of the Colloquium on Structural Information and Communication Complexity (SIROCCO). 147--162 . ]]Flocchini, P., Prencipe, G., Santoro, N., and Widmayer, P. 2001. Pattern formation by autonomous robots without chirality. In Proceedings of the Colloquium on Structural Information and Communication Complexity (SIROCCO). 147--162."},{"key":"e_1_2_2_19_1","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2003.809765"},{"key":"e_1_2_2_20_1","doi-asserted-by":"publisher","DOI":"10.1145\/989459.989481"},{"key":"e_1_2_2_21_1","unstructured":"]]Herman T. 1996. Self-stabilization bibliography: Access guide. Theoretical Comput. Sci.  ]]Herman T. 1996. Self-stabilization bibliography: Access guide. Theoretical Comput. Sci."},{"key":"e_1_2_2_22_1","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2003.812781"},{"key":"e_1_2_2_23_1","doi-asserted-by":"crossref","unstructured":"]]Kaynar D. K. Lynch N. Segala R. and Vaandrager F. 2005. The Theory of Timed I\/O Automata. Synthesis Lectures on Computer Science. Morgan Claypool. Also available as Tech. rep. MIT-LCS-TR-917.   ]]Kaynar D. K. Lynch N. Segala R. and Vaandrager F. 2005. The Theory of Timed I\/O Automata. Synthesis Lectures on Computer Science. Morgan Claypool. Also available as Tech. rep. MIT-LCS-TR-917.","DOI":"10.1007\/978-3-031-01794-0"},{"key":"e_1_2_2_24_1","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2003.1272825"},{"volume-title":"Proceedings of the 44th IEEE Conference on Decision and Control (CDC'05)","author":"Lynch N.","key":"e_1_2_2_25_1","unstructured":"]] Lynch , N. , Mitra , S. , and Nolte , T . 2005. Motion coordination using virtual nodes . In Proceedings of the 44th IEEE Conference on Decision and Control (CDC'05) . ]]Lynch, N., Mitra, S., and Nolte, T. 2005. Motion coordination using virtual nodes. In Proceedings of the 44th IEEE Conference on Decision and Control (CDC'05)."},{"volume-title":"Proceedings of the IFAC World Congress.","author":"Martinez S.","key":"e_1_2_2_26_1","unstructured":"]] Martinez , S. , Cortes , J. , and Bullo , F . 2005. On robust rendezvous for mobile autonomous agents . In Proceedings of the IFAC World Congress. ]]Martinez, S., Cortes, J., and Bullo, F. 2005. On robust rendezvous for mobile autonomous agents. In Proceedings of the IFAC World Congress."},{"volume-title":"Proceedings of the International Symposium on Self-Stablizing Systems (SSS). 394--408","author":"Nolte T.","key":"e_1_2_2_27_1","unstructured":"]] Nolte , T. and Lynch , N. A . 2007a. Self-stabilization and virtual node layer emulations . In Proceedings of the International Symposium on Self-Stablizing Systems (SSS). 394--408 . ]]Nolte, T. and Lynch, N. A. 2007a. Self-stabilization and virtual node layer emulations. In Proceedings of the International Symposium on Self-Stablizing Systems (SSS). 394--408."},{"key":"e_1_2_2_28_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICDCS.2007.82"},{"key":"e_1_2_2_30_1","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2006.887293"},{"key":"e_1_2_2_31_1","unstructured":"]]Prencipe G. 2000. Achievable patterns by an even number of autonomous mobile robots. Tech. rep. TR-00-11. 17.  ]]Prencipe G. 2000. Achievable patterns by an even number of autonomous mobile robots. Tech. rep. TR-00-11. 17."},{"key":"e_1_2_2_32_1","volume-title":"Proceedings of the European Research Seminar on Advances in Distributed Systems (ERSADS). 185--190","author":"Prencipe G.","year":"2001","unstructured":"]] Prencipe , G. 2001 . Corda: Distributed coordination of a set of autonomous mobile robots . In Proceedings of the European Research Seminar on Advances in Distributed Systems (ERSADS). 185--190 . ]]Prencipe, G. 2001. Corda: Distributed coordination of a set of autonomous mobile robots. 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