A Theory of Distributed Anonymous Mobile Robots Formation and Agreement Problems.
A Theory of Distributed Anonymous Mobile Robots Formation and Agreement Problems.
复制标题
分布式匿名移动机器人形成理论和协议问题。
DOI：
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发表时间：
1994
期刊：
影响因子：
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通讯作者：
M. Yamashita
中科院分区：
文献类型：
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作者：
I. Suzuki;M. Yamashita
摘要：由多个移动的机器人组成的系统（其中机器人可以通过它们的眼睛传感器看到彼此但不配备任何通信系统）可以被视为分布式系统，其中组件（即，机器人）只能通过它们的动作相互“交流”。我们使用这个系统调查，通过一个案例研究的一些问题的形成的几何图形在平面上，权力和限制的分布式控制方法的移动的机器人。在分布式控制方法中，每个机器人在无限多个不可预测的时刻观察所有机器人的位置，并移动到由给定算法确定的新位置。这些机器人是匿名的，因为它们都执行相同的算法，并且无法通过它们的外观进行区分。机器人不一定是同步的，因此它们可能不总是同时观察它们的位置。此外，最初机器人没有共同的x-y坐标系。我们讨论的问题包括：（1）将机器人会聚到一个点，（2）将机器人移动到一个点，（3）在一个点上达成一致，（4）在单位距离上达成一致，（5）在方向上达成一致，以及（6）领导者选举。我们开发的算法解决这些问题在各种条件下。并给出了一些不可能性结果。（安）
Abstract : A system consisting of multiple mobile robots in which the robots can see each other by their eye sensors but are not equipped with any communication system, can be viewed as a distributed system in which the components (i.e., robots) can 'communicate' with each other only by means of their moves. We use this system to investigate, through a case study of a number of problems on the formation of geometric figures in the plane, the power and limitations of the distributed control method for mobile robots. In the distributed control method, each robot, at infinitely many unpredictable time instants, observes the positions of all the robots and moves to a new position determined by the given algorithm. The robots are anonymous in the sense that they all execute the same algorithm and they cannot be distinguished by their appearances. The robots are not necessarily synchronous, so they may not always observe their positions simultaneously. Furthermore, initially the robots do not have a common x-y coordinate system. The problems we discuss include (1) converging the robots to a single point, (2) moving the robots to a single point, (3) agreement on a single point, (4) agreement on the unit distance, (5) agreement on direction, and (6) leader election. We develop algorithms for solving some of these problems under various conditions. Some impossibility results are also presented. (AN)