论文标题
统一的圆圈由遗忘的群体机器人形成
Uniform Circle Formation By Oblivious Swarm Robots
论文作者
论文摘要
在本文中，我们通过多个自主和均匀的圆盘形机器人（也称为脂肪机器人）来研究圆形形成问题。机器人的目标是将自己放在一个圆圈的外围。圆形形成具有许多现实世界的应用，例如边界监视。本文解决了此类问题的一个变体{统一圆形形成，其中必须将机器人分开。机器人通过执行各州的循环进行操作。它们是遗忘，无法区分的，匿名的，并且不会通过消息传递进行交流。首先，我们在假设机器人是透明的同时解决了统一的圆形形成问题。接下来，我们解决了一个甚至更弱的模型，该模型是机器人非透明的，可见度有限。我们提出了新颖的分布式算法来解决这些变体。我们在本文中提出的算法被证明是正确的，并保证了机器人群中的碰撞和僵局。
In this paper, we study the circle formation problem by multiple autonomous and homogeneous disc-shaped robots (also known as fat robots). The goal of the robots is to place themselves on the periphery of a circle. Circle formation has many real-world applications, such as boundary surveillance. This paper addresses one variant of such problem { uniform circle formation, where the robots have to be equidistant apart. The robots operate by executing cycles of the states wait-look-compute-move. They are oblivious, indistinguishable, anonymous, and do not communicate via message passing. First, we solve the uniform circle formation problem while assuming the robots to be transparent. Next, we address an even weaker model, where the robots are non-transparent and have limited visibility. We propose novel distributed algorithms to solve these variants. Our presented algorithms in this paper are proved to be correct and guarantee to prevent collision and deadlock among the swarm of robots.
