移動予算制約下で故障に耐える自律ロボット群の相互可視化アルゴリズム
Budget-Constrained Fault-Tolerant Mutual Visibility for Autonomous Robots under the Mobility Fault Model
移動距離に上限がある自律ロボット群が、一部が故障して動けなくなっても、残りのロボットが互いに見えるように協調移動する分散アルゴリズムを提案した。
詳しい要約
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著者: Prakhar Shukla, Animesh Maiti, Shivam Kumar, Subhash Bhagat
分類: cs.DC, cs.CG, cs.MA, cs.RO
原文アブストラクト
We investigate the mutual visibility problem for a swarm of $n\ge3$ autonomous mobile robots under the budget-constrained mobility fault model. The robots are opaque, so if three robots are collinear, the middle robot obstructs the visibility between the other two. Each robot is assigned a finite movement budget, reflecting its limited energy, that bounds the total distance it may traverse during the execution. Moreover, an arbitrary number of robots may become permanently immobile due to mobility faults. The objective is to design a distributed algorithm that enables the non-faulty robots to coordinate their movements so that, within a finite time, every non-faulty robot attains unobstructed visibility of all robots in the system, including the faulty ones, while respecting the prescribed movement budget. We consider luminous robots operating under the $\mathsf{SSYNC}$ model with non-rigid movements, without any agreement on their local coordinate systems, and equipped only with a {\it common fixed reference point}. We present a deterministic distributed algorithm that solves the problem despite an arbitrary number of mobility faults. The algorithm guarantees mutual visibility for the non-faulty robots, respects the movement budget of every robot, provides collision-free movements for the robots, and uses only 12 light colors.