A distributed algorithm for gathering many fat mobile robots in the plane
A distributed algorithm for gathering many fat mobile robots in the plane
复制标题
一种在飞机上聚集多个胖移动机器人的分布式算法
DOI：
10.1145/2484239.2484266
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发表时间：
2012
期刊：
影响因子：
--
通讯作者：
M. Mavronicolas
中科院分区：
文献类型：
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作者：
Chrysovalandis Agathangelou;Chryssis Georgiou;M. Mavronicolas
我们重温了在飞机上聚集自主机器人的问题。特别是，我们考虑了非透明的单位圆盘机器人(即FAT)在异步环境中，视觉是唯一的协调手段，机器人只做出局部决策。我们使用状态机表示法来描述聚集问题，并开发了一个分布式算法来解决任意数量的肥胖机器人的聚集问题。该算法背后的主要思想是强制机器人达到以下所有条件的配置：
(I)机器人的中心形成一个凸壳，其中所有机器人都在该凸壳的边界上；
(Ii)每个机器人都能看到所有其他机器人；
(3)配置是连接的：每个机器人接触另一个机器人，所有机器人一起组成一个连接的队形。
我们证明，从任何初始配置开始，FAT机器人最终达到这样的配置并终止，从而产生聚集问题的解。
We revisit the problem of gathering autonomous robots in the plane. In particular, we consider non-transparent unit-disc robots (i.e., fat) in an asynchronous setting with vision as the only means of coordination and robots only make local decisions. We use a state-machine representation to formulate the gathering problem and develop a distributed algorithm that solves the problem for any number of fat robots. The main idea behind the algorithm is to enforce the robots to reach a configuration in which all the following hold:
(i) The robots' centers form a convex hull in which all robots are on the convex hull's boundary;
(ii) Each robot can see all other robots;
(iii) The configuration is connected: every robot touches another robot and all robots form together a connected formation.
We show that starting from any initial configuration, the fat robots eventually reach such a configuration and terminate yielding a solution to the gathering problem.