CIRCLE-TAG, an online multi-robot information-dissemination algorithm, has competitive ratio O(H max{M, sqrt(MH)}) for arbitrary deployments and O(M) for uniform random deployments in unbounded environments.
The freeze-tag problem: how to wake up a swarm of robots
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Asynchronous Network Formation in Unknown Unbounded Environments
CIRCLE-TAG, an online multi-robot information-dissemination algorithm, has competitive ratio O(H max{M, sqrt(MH)}) for arbitrary deployments and O(M) for uniform random deployments in unbounded environments.