A graph environment must be explored by a collection of mobile robots. Some of the robots, a priori unknown, may turn out to be unreliable. The graph is weighted and each node is assigned a deadline. The exploration is successful if each node of the graph is visited before its deadline by a reliable robot. The edge weight corresponds to the time needed by a robot to traverse the edge. Given the number of robots which may crash, is it possible to design an algorithm, which will always guarantee the exploration, independently of the choice of the subset of unreliable robots by the adversary? We find the optimal time, during which the graph may be explored. Our approach permits to find the maximal number of robots, which may turn out to be unreliable, and the graph is still guaranteed to be explored. We concentrate on line graphs and rings, for which we give positive results. We start with the case of the collections involving only reliable robots. We give algorithms finding optimal times needed for exploration when the robots are assigned to fixed initial positions as well as when such starting positions may be determined by the algorithm. We extend our consideration to the case when some number of robots may be unreliable. Our most surprising result is that solving the line exploration problem with robots at given positions, which may involve crash-faulty ones, is NP-hard. The same problem has polynomial solutions for a ring and for the case when the initial robots' positions on the line are arbitrary. The exploration problem is shown to be NP-hard for star graphs, even when the team consists of only two reliable robots.
The work of @cite_22 is very related to our work in that jobs are located on a line. Each job has an associated processing time, and whose execution has to start within a prespecified time window. The paper considers the problems of minimizing (a) the time by which all jobs are executed (traveling salesman problem), and (b) the sum of the waiting times of the jobs (traveling repairman problem). Also related is the research on Graphs with dynamically evolving links (also known as time varying graphs) which has been explored extensively in theoretical computer science (e.g., see @cite_21 @cite_20 @cite_5 ).
@cite_5 @cite_21 @cite_22 @cite_20
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In this paper we investigate distributed computation in dynamic networks in which the network topology changes from round to round. We consider a worst-case model in which the communication links for each round are chosen by an adversary, and nodes do not know who their neighbors for the current round are before they broadcast their messages. The model captures mobile networks and wireless networks, in which mobility and interference render communication unpredictable. In contrast to much of the existing work on dynamic networks, we do not assume that the network eventually stops changing; we require correctness and termination even in networks that change continually. We introduce a stability property called T -interval connectivity (for T >= 1), which stipulates that for every T consecutive rounds there exists a stable connected spanning subgraph. For T = 1 this means that the graph is connected in every round, but changes arbitrarily between rounds. We show that in 1-interval connected graphs it is possible for nodes to determine the size of the network and compute any com- putable function of their initial inputs in O(n2) rounds using messages of size O(log n + d), where d is the size of the input to a single node. Further, if the graph is T-interval connected for T > 1, the computation can be sped up by a factor of T, and any function can be computed in O(n + n2 T) rounds using messages of size O(log n + d). We also give two lower bounds on the token dissemination problem, which requires the nodes to disseminate k pieces of information to all the nodes in the network. The T-interval connected dynamic graph model is a novel model, which we believe opens new avenues for research in the theory of distributed computing in wireless, mobile and dynamic networks. The past few years have seen intensive research efforts carried out in some apparently unrelated areas of dynamic systems -- delay-tolerant networks, opportunistic-mobility networks, social networks -- obtaining closely related insights. Indeed, the concepts discovered in these investigations can be viewed as parts of the same conceptual universe; and the formal models proposed so far to express some specific concepts are components of a larger formal description of this universe. The main contribution of this paper is to integrate the vast collection of concepts, formalisms, and results found in the literature into a unified framework, which we call TVG (for time-varying graphs). Using this framework, it is possible to express directly in the same formalism not only the concepts common to all those different areas, but also those specific to each. Based on this definitional work, employing both existing results and original observations, we present a hierarchical classification of TVGs; each class corresponds to a significant property examined in the distributed computing literature. We then examine how TVGs can be used to study the evolution of network properties, and propose different techniques, depending on whether the indicators for these properties are a-temporal (as in the majority of existing studies) or temporal. Finally, we briefly discuss the introduction of randomness in TVGs. Consider a complete directed graph in which each arc has a given length. There is a set ofjobs, each job i located at some node of the graph, with an associated processing time hi, and whose execution has to start within a prespecified time window [r;, di]. We have a single server that can move on the arcs of the graph, at unit speed, and that has to execute all of the jobs within their respective time windows. We consider the following two problems: (a) minimize the time by which all jobs are executed (traveling salesman problem) and (b) minimize the sum of the waiting times of the jobs (traveling repairman problem). We focus on the following two special cases: (a) The jobs are located on a line and (b) the number of nodes of the graph is bounded by some integer constant B. Furthermore, we consider in detail the special cases where (a) all of the processing times are 0, (b) all of the release times ri are 0, and (c) all of the deadlines di are infinite. For many of the resulting problem combinations, we settle their complexity either by establishing NP-completeness or by presenting polynomial (or pseudopolynomial) time algorithms. Finally, we derive algorithms for the case where, for any time t, the number of jobs that can be executed at that time is bounded.