Distributed Algorithms for Cooperative Mobile Robots: A Survey
Distributed Algorithms for Cooperative Mobile Robots: A Survey
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协作移动机器人的分布式算法：调查
DOI：
10.1109/icnc.2011.71
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发表时间：
2011
期刊：
影响因子：
--
通讯作者：
K. Wada
中科院分区：
文献类型：
--
作者：
S. Souissi;Taisuke Izumi;K. Wada
技术的不断进步使得使用多个机器人来执行各种对人类来说是危险或不希望完成的合作任务成为可能。然而，仅仅将机器人聚集在一起是不够的，必须设计适当的协调机制以确保群体行为的一致性。此外，由于协作机器人的许多应用都考虑了居住在危险环境中的廉价机器人，因此容错性是首要考虑的问题。因此，移动机器人系统的协调和自组织机制和算法的研究引起了人们的广泛关注。特别是，许多研究从计算的角度（也称为算法方法）解决了这个问题，旨在了解一组弱移动机器人能够或不能实现的基本算法限制。在本文中，我们对这些现有研究进行了综述，并从算法的角度强调了在平面上协调一组自主移动机器人时出现的各种理论问题。最后，我们讨论该领域的开放问题。
Continuous advances in technology have made possible the use of several robots in order to carry out a large variety of cooperative tasks that are dangerous or undesirable for humans to complete. Nevertheless, merely bringing robots together is by no means sufficient, and adequate coordination mechanisms must be designed to ensure coherent group behavior. Furthermore, since many applications of cooperative robotics consider cheap robots dwelling in hazardous environments, fault-tolerance is of primary concern. As a result, research on mechanisms and algorithms for coordination and self-organization of mobile robot systems has attracted considerable attention. In particular, many researches have addressed the problem from a computational view point (also called algorithmic approach), aiming to understand the fundamental algorithmic limitations of what a group of weak mobile robots can or can not achieve. In this paper, we give a survey of these existing researches, and emphasize the various theoretical issues that arise in coordinating a set of autonomous mobile robots in the plane, and from algorithmic perspective. Finally, we discuss open problems in this field.