Gathering problems for autonomous mobile robots with lights
Gathering problems for autonomous mobile robots with lights
复制标题
收集带灯自主移动机器人的问题
DOI：
10.1016/j.tcs.2022.11.018
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发表时间：
2023
影响因子：
1.1
通讯作者：
Yoshiaki Katayama
中科院分区：
文献类型：
--
作者：
Satoshi Terai;Koichi Wada;Yoshiaki Katayama
自主机器人系统是包括自主移动的机器人的分布式系统，自主机器人执行感兴趣的任务，例如编队和群集。在一个基本模型中，当机器人没有灯时，（没有存储器和通信设备），聚集，一种要求系统的所有机器人在先验未知的单个点相遇的编队问题，如果系统是半同步的（SSYNC，所有机器人的子集每次同步激活）甚至是集中式的（每次只有一个机器人被激活），则是不可能的[7]，[23]。此外，如果机器人具有多重性检测机制，则只有当机器人的数量为奇数时，Gathering才是可解的。这项工作旨在进一步表征不同能力/假设（包括光能力）对问题可解性的影响。我们介绍了新类型的视图模型，称为“集视图”，“任意视图”和“多集视图”，然后提出了六种算法（其中五个是最佳的颜色灯的数量）来解决聚集作为一个形成问题时，机器人有灯。在SSYNC中提出的算法表明，光模型是强大的多重性检测机制解决聚集作为一个形成的问题。
An autonomous robot system is a distributed system comprising autonomous mobile robots that perform tasks of interest such as formation and flocking. In a basic model when robots have no lights (no memory and no communication devices), Gathering, a type of formation problem that asks all robots of the system to meet at a single point that is not known a priori, is impossible if the system is semi-synchronous (SSYNC, a subset of all robots is synchronously activated each time) or even centralized (only one robot is activated each time) [7], [23]. Furthermore, if robots have a multiplicity detection mechanism, Gathering is solvable only when the number of robots is odd.This work aims to further characterize the impact that different capabilities/assumptions (including light capability) have on the solvability of the problem. We introduce novel types of a view model called “set-view”, “arbitrary-view” and “multi-set-view,” and then propose six algorithms (five of these are optimal in terms of the number of colors of lights) to solve Gathering as a formation problem when robots have lights. The proposed algorithm in SSYNC shows that the light model is stronger than the multiplicity detection mechanism for solving Gathering as a formation problem.