论文标题
机器人的模式形成，动作不准确
Pattern Formation by Robots with Inaccurate Movements
论文作者
论文摘要
\ textsc {任意模式形成}是自主移动机器人系统中的一个基本问题。问题要求设计一种分布式算法，该算法将移动一个自动，匿名和相同移动机器人团队，以形成任何任意的模式$ f $作为输入。在本文中，我们研究了可能不准确的机器人的问题。我们的运动模型在预期运动的方向和程度上都假定错误。在这种情况下，完全不可能形成给定模式。因此，我们要求机器人必须形成接近给定模式$ f $的配置。我们将其称为\ textsc {近似任意模式形成}问题。我们表明，如果在坐标系中没有一致的一致性，即使是完全同步机器人，问题也无法解决，如果初始配置1）具有旋转对称性，并且旋转中心或2）没有反射对称性，并且在反射轴上没有机器人。从所有其他初始配置中，我们通过1）忽略，无声和半同步机器人以及2）忽略，异步机器人可以使用外部可见的灯进行通信。
\textsc{Arbitrary Pattern Formation} is a fundamental problem in autonomous mobile robot systems. The problem asks to design a distributed algorithm that moves a team of autonomous, anonymous and identical mobile robots to form any arbitrary pattern $F$ given as input. In this paper, we study the problem for robots whose movements can be inaccurate. Our movement model assumes errors in both direction and extent of the intended movement. Forming the given pattern exactly is not possible in this setting. So we require that the robots must form a configuration which is close to the given pattern $F$. We call this the \textsc{Approximate Arbitrary Pattern Formation} problem. We show that with no agreement in coordinate system, the problem is unsolvable, even by fully synchronous robots, if the initial configuration 1) has rotational symmetry and there is no robot at the center of rotation or 2) has reflectional symmetry and there is no robot on the reflection axis. From all other initial configurations, we solve the problem by 1) oblivious, silent and semi-synchronous robots and 2) oblivious, asynchronous robots that can communicate using externally visible lights.
