Near-Gathering of Energy-Constrained Mobile Agents

Andreas Bärtschi, Evangelos Bampas, Jérémie Chalopin, Shantanu Das, Christina Karousatou, Matús Mihalák

Research output: Chapter in Book/Report/Conference proceedingChapterAcademic


We study the task of gathering k energy-constrained mobile agents in an undirected edge-weighted graph. Each agent is initially placed on an arbitrary node and has a limited amount of energy, which constrains the distance it can move. Since this may render gathering at a single point impossible, we study three variants of near-gathering:the goal is to move the agents into a configuration that minimizes either (i) the radius of a ball containing all agents, (ii) the maximum distance between any two agents, or (iii) the average distance between the agents. We prove that (i) is polynomial-time solvable, (ii) has a polynomial-time 2-approximation with a matching np-hardness lower bound, while (iii) admits a polynomial-time \(2(1-\tfrac{1}{k})\)-approximation, but no fptas, unless \(\text {p}=\text {np}\). We extend some of our results to additive approximation.keywordsmobile agentspower-aware robotslimited batterygatheringgraph algorithmsapproximationcomputational complexity.
Original languageEnglish
Title of host publicationStructural Information and Communication Complexity
Subtitle of host publicationProceedings of the 26th International Colloquium on Structural Information and Communication Complexity (SIROCCO)
EditorsKeren Censor-Hillel, Michele Flammini
PublisherSpringer, Cham
Number of pages14
Publication statusPublished - 2019

Publication series

SeriesLecture Notes in Computer Science


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