We consider a swarm of $n$ robots in \mathbb{R}^d. The robots are oblivious, disoriented (no common coordinate system/compass), and have limited visibility (observe other robots up to a constant distance). The basic formation task gathering requires that all robots reach the same, not predefined position. In the related near-gathering task, they must reach distinct positions such that every robot sees the entire swarm. In the considered setting, gathering can be solved in $\mathcal{O}(n + Δ^2)$ synchronous rounds both in two and three dimensions, where $Δ$ denotes the initial maximal distance of two robots. In this work, we formalize a key property of efficient gathering protocols and use it to define $λ$-contracting protocols. Any such protocol gathers $n$ robots in the $d$-dimensional space in $\mathcal{O}(Δ^2)$ synchronous rounds. Moreover, we prove a corresponding lower bound stating that any protocol in which robots move to target points inside of the local convex hulls of their neighborhoods -- $λ$-contracting protocols have this property -- requires $Ω(Δ^2)$ rounds to gather all robots. Among others, we prove that the $d$-dimensional generalization of the GtC-protocol is $λ$-contracting. Remarkably, our improved and generalized runtime bound is independent of $n$ and $d$. The independence of $d$ answers an open research question. We also introduce an approach to make any $λ$-contracting protocol collisionfree to solve near-gathering. The resulting protocols maintain the runtime of $Θ(Δ^2)$ and work even in the semi-synchronous model.

The famous k-Server Problem covers plenty of resource allocation scenarios, and several variations have been studied extensively for decades. However, to the best of our knowledge, no research has considered the problem if the servers are not identical and requests can express which specific servers should serve them. Therefore, we present a new model generalizing the k-Server Problem by preferences of the requests and proceed to study it in a uniform metric space for deterministic online algorithms (the special case of paging).

Let G = (V,E) be an undirected graph on n vertices with non-negative capacities on its edges. The mincut sensitivity problem for the insertion of an edge is defined as follows. Build a compact data structure for G and a given set S ⊆ V of vertices that, on receiving any edge (x,y) ∈ S×S of positive capacity as query input, can efficiently report the set of all pairs from S× S whose mincut value increases upon insertion of the edge (x,y) to G. The only result that exists for this problem is for a single pair of vertices (Picard and Queyranne, Mathematical Programming Study, 13 (1980), 8-16). We present the following results for the single source and the all-pairs versions of this problem. 1) Single source: Given any designated source vertex s, there exists a data structure of size 𝒪(|S|) that can output all those vertices from S whose mincut value to s increases upon insertion of any given edge. The time taken by the data structure to answer any query is 𝒪(|S|). 2) All-pairs: There exists an 𝒪(|S|²) size data structure that can output all those pairs of vertices from S× S whose mincut value gets increased upon insertion of any given edge. The time taken by the data structure to answer any query is 𝒪(k), where k is the number of pairs of vertices whose mincut increases. For both these versions, we also address the problem of reporting the values of the mincuts upon insertion of any given edge. To derive our results, we use interesting insights into the nearest and the farthest mincuts for a pair of vertices. In addition, a crucial result, that we establish and use in our data structures, is that there exists a directed acyclic graph of 𝒪(n) size that compactly stores the farthest mincuts from all vertices of V to a designated vertex s in the graph. We believe that this result is of independent interest, especially, because it also complements a previously existing result by Hariharan et al. (STOC 2007) that the nearest mincuts from all vertices of V to s is a laminar family, and hence, can be stored compactly in a tree of 𝒪(n) size.

We consider a natural extension to the metric uncapacitated Facility Location Problem (FLP) in which requests ask for different commodities out of a finite set (S) of commodities. Ravi and Sinha (SODA 2004) introduced the model as the Multi-Commodity Facility Location Problem (MFLP) and considered it an offline optimization problem. The model itself is similar to the FLP: i.e., requests are located at points of a finite metric space and the task of an algorithm is to construct facilities and assign requests to facilities while minimizing the construction cost and the sum over all assignment distances. In addition, requests and facilities are heterogeneous; they request or offer multiple commodities out of S. A request has to be connected to a set of facilities jointly offering the commodities demanded by it. In comparison to the FLP, an algorithm has to decide not only if and where to place facilities, but also which commodities to offer at each. To the best of our knowledge we are the first to study the problem in its online variant in which requests, their positions and their commodities are not known beforehand but revealed over time. We present results regarding the competitive ratio. On the one hand, we show that heterogeneity influences the competitive ratio by developing a lower bound on the competitive ratio for any randomized online algorithm of (Ω( √|S| + log/n log log n)) that already holds for simple line metrics. Here, (n) is the number of requests. On the other side, we establish a deterministic (O(√|S| · log n))-competitive algorithm and a randomized (O(√|S| · log/n log log n))-competitive algorithm. Further, we show that when considering a more special class of cost functions for the construction cost of a facility, the competitive ratio decreases given by our deterministic algorithm depending on the function.

Robot coordination problems deal with systems consisting of many autonomous, but simple, mobile agents that try to achieve a common, complex task. The agents' capabilities depend on the exact model and task but are typically very restricted. For example, there is usually no common coordinate system or sense of direction, and agents often have limited sensing capabilities. Among the most basic and well-studied type of tasks are GATHERING problems, in which initially scattered agents must gather at a single point. CHAINFORMATION problems represent another important formation primitive. Here, agents take the role of communication relays that, initially, form a winding chain connecting two base stations. The relays are to move such that the chain becomes straight, allowing for a more energy-efficient communication along the relay chain. Both GATHERING and CHAINFORMATION problems can be described as contracting: starting from an initially scattered formation, they seek to reach a smaller, more efficient structure. A natural complement are extension problems, where agents start in an initially dense formation and seek to reach an extended formation that covers as much area as possible. While there are some results about extension problems if agents move on grids or rings, results in standard discrete and continuous models for the Euclidean plane are scarce. Our work introduces the MAXFORM problem on the Euclidean plane and provides first analytical results for both the discrete and continuous case.

Abstract We extend the Mobile Server problem introduced in Feldkord and Meyer auf der Heide (TOPC 6(3), 14:1–14:17 2019) to a model where k identical mobile resources, here named servers, answer requests appearing at points in the Euclidean space. To reduce communication costs, the positions of the servers can be adapted by a limited distance ms per round for each server. The costs are measured similarly to the classical Page Migration problem: i.e., answering a request induces costs proportional to the distance to the nearest server, and moving a server induces costs proportional to the distance multiplied with a weight D. We show that, in our model, no online algorithm can have a constant competitive ratio: i.e., one which is independent of the input length n, even if an augmented moving distance of (1 + δ)ms is allowed for the online algorithm. Therefore we investigate a restriction of the power of the adversary dictating the sequence of requests: We demand locality of requests: i.e., that consecutive requests come from points in the Euclidean space with distance bounded by some constant mc. We show constant lower bounds on the competitiveness in this setting (independent of n, but dependent on k, ms and mc). On the positive side, we present a deterministic online algorithm with bounded competitiveness when an augmented moving distance and locality of requests is assumed. Our algorithm simulates any given algorithm for the classical k-Page Migration problem as guidance for its servers and extends it by a greedy move of one server in every round. The resulting competitive ratio is polynomial in the number of servers k, the ratio between mc and ms, the inverse of the augmentation factor 1/δ and the competitive ratio of the simulated k-Page Migration algorithm. We also show how to directly adapt the Double Coverage algorithm (Chrobak et al. SIAM J. Discrete Math. 4(2), 172–181 11) for the k-Server problem to receive an algorithm with improved competitiveness on the line.