Team assembling problem for asynchronous heterogeneous mobile robots
Team assembling problem for asynchronous heterogeneous mobile robots
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DOI：
10.1016/j.tcs.2018.01.009
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发表时间：
2018-04
期刊：
影响因子：
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通讯作者：
Zhi-Quiang Liu;Yukiko Yamauchi;S. Kijima;M. Yamashita
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作者：
Zhi-Quiang Liu;Yukiko Yamauchi;S. Kijima;M. Yamashita
研究了异质移动机器人群体的团队组装问题，该问题要求机器人自主地将自己划分成满足给定规范A=(a1，a2，…)的团队，k)，其中a i是一组中具有颜色(即，机器人类型)i的机器人的数量。由二维欧氏空间中的一点表示的机器人是异步的、不经意的和匿名的，因为具有相同颜色的机器人是不可区分的，并且所有机器人都执行相同的算法来确定它们的移动。它既没有进入全球坐标系的机会，也没有任何明确的交流媒介。我们证明了G C D(a1，a2，…，a，k)=1是机器人有算法以自稳定方式解决团队组装问题的充要条件，即从任意初始构形开始，机器人按照规范组成团队。
We investigate the team assembling problem for a swarm of heterogeneous mobile robots which requires the robots to autonomously partition themselves into teams satisfying a given specification A=(a 1, a 2,…, a k), where a i is the number of robots with color (ie, robot type) i in one team. A robot, which is represented by a point in the two-dimensional Euclidean space, is asynchronous, oblivious, and anonymous in the sense that robots with the same color are indistinguishable and all robots execute the same algorithm to determine their moves. It has neither any access to the global coordinate system nor any explicit communication medium. We show that G C D (a 1, a 2,…, a k)= 1 is a necessary and sufficient condition for the robots to have an algorithm to solve the team assembling problem in a self-stabilizing manner, ie, starting from any arbitrary initial configuration, the robots form teams according to the specification.