Algorithms for Rapidly Dispersing Robot Swarms in Unknown Environments
Algorithms for Rapidly Dispersing Robot Swarms in Unknown Environments
复制标题
在未知环境中快速分散机器人群的算法
DOI：
10.1007/978-3-540-45058-0_6
复制
发表时间：
2002
期刊：
影响因子：
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通讯作者：
Joseph B. M. Mitchell
中科院分区：
文献类型：
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作者：
Tien;E. Arkin;M. A. Bender;S. Fekete;Joseph B. M. Mitchell
我们开发和分析的算法分散在一个未知的环境中，R。主要目标是最小化完工时间，即填充整个区域的时间。环境由形成整数网格的连接子集的像素组成。每个像素最多有一个机器人，机器人以单位速度水平或垂直移动。机器人通过k ≥ 1个门像素进入R。机器人是原始的有限自动机，只有本地通信，本地传感器和恒定大小的存储器。
We develop and analyze algorithms for dispersing a swarm of primitive robots in an unknown environment, R. The primary objective is to minimize the makespan, that is, the time to fill the entire region. An environment is composed of pixels that form a connected subset of the integer grid. There is at most one robot per pixel and robots move horizontally or vertically at unit speed. Robots enter R by means of k ≥ 1 door pixels. Robots are primitive finite automata, only having local communication, local sensors, and a constant-sized memory.