论文标题
脂肪机器人的相互可见性，纤细的全向相机
Mutual Visibility by Fat Robots with Slim Omnidirectional Camera
论文作者
论文摘要
在自主机器人群的相互可见性问题的现有文献中，所采用的可见性模型具有一些理想主义的假设，这些假设与实用的传感设备实现不一致。本文在更现实的可见性模型中调查了这个问题，称为不透明的脂肪机器人，并用纤细的全向相机进行了研究。将机器人建模为单位磁盘，每个磁盘都具有全向摄像头，表示为尺寸较小的磁盘。我们假设机器人具有指南针，可以在其局部坐标系统的两个轴方向和方向上达成共识。机器人配备了可见光的灯光，这些灯可以用作通信的媒介，也可以用作记忆的形式。我们为相互可见性问题提供了分布式算法，该算法在半同步设置中被证明是正确的。我们的算法还为领导者选举提供了解决方案，我们将其用作主要算法中的子例程。尽管在完整的可见性模型中，领导者选举在两个轴心协议中是微不足道的，但在我们的情况下，这是具有挑战性的，并且具有独立的利益。
In the existing literature of the Mutual Visibility problem for autonomous robot swarms, the adopted visibility models have some idealistic assumptions that are not consistent with practical sensing device implementations. This paper investigates the problem in the more realistic visibility model called opaque fat robots with slim omnidirectional camera. The robots are modeled as unit disks, each having an omnidirectional camera represented as a disk of smaller size. We assume that the robots have compasses that allow agreement in the direction and orientation of both axes of their local coordinate systems. The robots are equipped with visible lights which serve as a medium of communication and also as a form of memory. We present a distributed algorithm for the Mutual Visibility problem which is provably correct in the semi-synchronous setting. Our algorithm also provides a solution for Leader Election which we use as a subroutine in our main algorithm. Although Leader Election is trivial with two axis agreement in the full visibility model, it is challenging in our case and is of independent interest.
