Euripides Markou

Gathering asynchronous oblivious mobile robots in a ring

We consider the problem of gathering identical, memoryless, mobile robots in one node of an anonymous unoriented ring. Robots start from different nodes of the ring. They operate in Look-Compute-Move cycles and have to end up in the same node. In one cycle, a robot takes a snapshot of the current configuration (Look), makes a decision to stay idle or to move to one of its adjacent nodes (Compute), and in the latter case makes an instantaneous move to this neighbor (Move). Cycles are performed asynchronously for each robot. For an odd number of robots we prove that gathering is feasible if and only if the initial configuration is not periodic, and we provide a gathering algorithm for any such configuration. For an even number of robots we decide the feasibility of gathering except for one type of symmetric initial configurations, and provide gathering algorithms for initial configurations proved to be gatherable.

Hardness and approximation results for Black Hole Search in arbitrary networks

A black hole is a highly harmful stationary process residing in a node of a network and destroying all mobile agents visiting the node without leaving any trace. The Black Hole Search is the task of locating all black holes in a network by exploring it with mobile agents. We consider the problem of designing the fastest Black Hole Search, given the map of the network and the starting node. We study the version of this problem that assumes that there is at most one black hole in the network and there are two agents, which move in synchronized steps. We prove that this problem is NP-hard in arbitrary graphs (even in planar graphs), solving an open problem stated in [J. Czyzowicz, D. Kowalski, E. Markou, A. Pelc, Searching for a black hole in tree networks, in: Proc. 8th Int. Conf. on Principles of Distributed Systems, OPODIS 2004, 2004, pp. 34-35. Also: Springer LNCS, vol. 3544, pp. 67-80]. We also give a -approximation algorithm, showing the first non-trivial approximation ratio upper bound for this problem. Our algorithm follows a natural approach of exploring networks via spanning trees. We prove that this approach cannot lead to an approximation ratio bound better than 3/2.

Searching for a Black Hole in Synchronous Tree Networks

A black hole is a highly harmful stationary process residing in a node of a network and destroying all mobile agents visiting the node, without leaving any trace. We consider the task of locating a black hole in a (partially) synchronous tree network, assuming an upper bound on the time of any edge traversal by an agent. The minimum number of agents capable of identifying a black hole is two. For a given tree and given starting node we are interested in the fastest-possible black hole search by two agents. For arbitrary trees we give a 5/3-approximation algorithm for this problem. We give optimal black hole search algorithms for two ‘extreme’ classes of trees: the class of lines and the class of trees in which any internal node (including the root which is the starting node) has at least two children.

Mobile agent rendezvous in a synchronous torus

We consider the rendezvous problem for identical mobile agents (i.e., running the same deterministic algorithm) with tokens in a synchronous torus with a sense of direction and show that there is a striking computational difference between one and more tokens. More specifically, we show that 1) two agents with a constant number of unmovable tokens, or with one movable token, each cannot rendezvous if they have o(log n) memory, while they can perform rendezvous with detection as long as they have one unmovable token and O(log n) memory; in contrast, 2) when two agents have two movable tokens each then rendezvous (respectively, rendezvous with detection) is possible with constant memory in an arbitrary n × m (respectively, n × n) torus; and finally, 3) two agents with three movable tokens each and constant memory can perform rendezvous with detection in a n × m torus. This is the first publication in the literature that studies tradeoffs between the number of tokens, memory and knowledge the agents need in order to meet in such a network.

Searching for a black hole in tree networks

A black hole is a highly harmful stationary process residing in a node of a network and destroying all mobile agents visiting the node, without leaving any trace. We consider the task of locating a black hole in a (partially) synchronous tree network, assuming an upper bound on the time of any edge traversal by an agent. The minimum number of agents capable to identify a black hole is two. For a given tree and given starting node we are interested in the fastest possible black hole search by two agents. For arbitrary trees we give a 5/3-approximation algorithm for this problem. We give optimal black hole search algorithms for two “extreme” classes of trees: the class of lines and the class of trees in which any internal node (including the root which is the starting node) has at least 2 children.

Online graph exploration with advice

We study the problem of exploring an unknown undirected graph with non-negative edge weights. Starting at a distinguished initial vertex s, an agent must visit every vertex of the graph and return to s. Upon visiting a node, the agent learns all incident edges, their weights and endpoints. The goal is to find a tour with minimal cost of traversed edges. This variant of the exploration problem has been introduced by Kalyanasundaram and Pruhs in [18] and is known as a fixed graph scenario. There have been recent advances by Megow, Mehlhorn, and Schweitzer ([19]), however the main question whether there exists a deterministic algorithm with constant competitive ratio (w.r.t. to offline algorithm knowing the graph) working on all graphs and with arbitrary edge weights remains open. In this paper we study this problem in the context of advice complexity, investigating the tradeoff between the amount of advice available to the deterministic agent, and the quality of the solution. We show that Ω(n logn) bits of advice are necessary to achieve a competitive ratio of 1 (w.r.t. an optimal algorithm knowing the graph topology). Furthermore, we give a deterministic algorithm which uses O(n) bits of advice and achieves a constant competitive ratio on any graph with arbitrary weights. Finally, going back to the original problem, we prove a lower bound of 5/2−e for deterministic algorithms working with no advice, improving the best previous lower bound of 2−e of Miyazaki, Morimoto, and Okabe from [20]. In this case, significantly more elaborate technique was needed to achieve the result.

Tight bounds for scattered black hole search in a ring

We study the problem of locating a particularly dangerous node, the so-called black hole in a synchronous anonymous ring network with mobile agents. A black hole destroys all mobile agents visiting that node without leaving any trace. Unlike most previous research on the black hole search problem which employed a colocated team of agents, we consider the more challenging scenario when the agents are identical and initially scattered within the network. Moreover, we solve the problem with agents that have constant-sized memory and carry a constant number of identical tokens, which can be placed at nodes of the network. In contrast, the only known solutions for the case of scattered agents searching for a black hole, use stronger models where the agents have non-constant memory, can write messages in whiteboards located at nodes or are allowed to mark both the edges and nodes of the network with tokens. We are interested in the minimum resources (number of agents and tokens) necessary for locating all links incident to the black hole. In fact, we provide matching lower and upper bounds for the number of agents and the number of tokens required for deterministic solutions to the black hole search problem, in oriented or unoriented rings, using movable or unmovable tokens.

Hardness and approximation results for black hole search in arbitrary graphs

A black hole is a highly harmful stationary process residing in a node of a network and destroying all mobile agents visiting the node, without leaving any trace. We consider the task of locating a black hole in a (partially) synchronous arbitrary network, assuming an upper bound on the time of any edge traversal by an agent. For a given graph and a given starting node we are interested in finding the fastest possible Black Hole Search by two agents (the minimum number of agents capable to identify a black hole). We prove that this problem is NP-hard in arbitrary graphs, thus solving an open problem stated in [2]. We also give a 7/2-approximation algorithm, thus improving on the 4-approximation scheme observed in [2]. Our approach is to explore the given input graph via some spanning tree. Even if it represents a very natural technique, we prove that this approach cannot achieve an approximation ratio better than 3/2.

Black hole search with finite automata scattered in a synchronous torus

We consider the problem of locating a black hole in synchronous anonymous networks using finite state agents. A black hole is a harmful node in the network that destroys any agent visiting that node without leaving any trace. The objective is to locate the black hole without destroying too many agents. This is difficult to achieve when the agents are initially scattered in the network and are unaware of the location of each other. In contrast to previous results, we solve the problem using a small team of finite-state agents each carrying a constant number of identical tokens that could be placed on the nodes of the network. Thus, all resources used in our algorithms are independent of the network size. We restrict our attention to oriented torus networks and first show that no finite team of finite state agents can solve the problem in such networks, when the tokens are not movable, i.e., they cannot be moved by the agents once they have been released on a node. In case the agents are equipped with movable tokens, we determine lower bounds on the number of agents and tokens required for solving the problem in torus networks of arbitrary size. Further, we present a deterministic solution to the black hole search problem for oriented torus networks, using the minimum number of agents and tokens, thus providing matching upper bounds for the problem.

Tight bounds for black hole search with scattered agents in synchronous rings

We study the problem of locating a particularly dangerous node, the so-called black hole in a synchronous anonymous ring network with mobile agents. A black hole is a harmful stationary process residing in a node of the network and destroying all mobile agents visiting that node without leaving any trace. Unlike most previous research on the black hole search problem which employed a co-located team of agents, we consider the more challenging scenario when the agents are identical and initially scattered within the network. Moreover, we solve the problem with agents that have constant-sized memory and carry a constant number of identical tokens, which can be placed at nodes of the network. In contrast, the only known solutions for the case of scattered agents searching for a black hole, use stronger models where the agents have non-constant memory, can write messages in whiteboards located at nodes or are allowed to mark both the edges and nodes of the network with tokens. This paper solves the problem for ring networks containing a single black hole. We are interested in the minimum resources (number of agents and tokens) necessary for locating all links incident to the black hole. We present deterministic algorithms for ring topologies and provide matching lower and upper bounds for the number of agents and the number of tokens required for deterministic solutions to the black hole search problem, in oriented or unoriented rings, using movable or unmovable tokens.