Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: A Parallel Distributed Strategy for Arraying a Scattered Robot Swarm   We consider the problem of organizing a scattered group of $n$ robots in
two-dimensional space, with geometric maximum distance $D$ between robots. The
communication graph of the swarm is connected, but there is no central
authority for organizing it. We want to arrange them into a sorted and
equally-spaced array between the robots with lowest and highest label, while
maintaining a connected communication network.
  In this paper, we describe a distributed method to accomplish these goals,
without using central control, while also keeping time, travel distance and
communication cost at a minimum. We proceed in a number of stages (leader
election, initial path construction, subtree contraction, geometric
straightening, and distributed sorting), none of which requires a central
authority, but still accomplishes best possible parallelization. The overall
arraying is performed in $O(n)$ time, $O(n^2)$ individual messages, and $O(nD)$
travel distance. Implementation of the sorting and navigation use communication
messages of fixed size, and are a practical solution for large populations of
low-cost robots.

9
The categories of this paper are: nlin
4
The categories of this paper are: cond-mat
36
The categories of this paper are: cmp-lg
26
The categories of this paper are: bayes-an
13
The categories of this paper are: quant-ph
5
The categories of this paper are: gr-qc
2
The categories of this paper are: math
14
The categories of this paper are: math-ph
3
The categories of this paper are: physics
16
The categories of this paper are: stat
20
The categories of this paper are: acc-phys
27
The categories of this paper are: comp-gas
21
The categories of this paper are: adap-org
33
The categories of this paper are: plasm-ph
23
The categories of this paper are: solv-int
30
The categories of this paper are: q-alg