论文标题
机器人在网格的交替节点上均匀散射
Uniform Scattering of Robots on Alternate Nodes of a Grid
论文作者
论文摘要
在本文中，我们提出了一种分布式算法，以沿网格均匀地散射机器人，并在该网格分布的交替节点上机器人。这些同质的自主移动机器人将自己的等距隔开，这是由机器人保护或覆盖地理区域所必需的。机器人通过执行状态“外观变动”的周期来运行。在外观阶段，它看起来可以看到其他机器人的位置。在计算阶段，它计算要移至的目的地；然后在移动阶段，它移至该计算的目的地。他们不会通过消息传递进行交互，并且不能回忆到过去的动作，也不能从上一个周期（即遗忘）中回顾一下。机器人是半同步的，匿名的，并且具有无限的可见性。最终，机器人均匀地将自己分布在网格的交替节点上，使网格空缺的相邻节点留下。提出的算法也可以确保机器人之间没有碰撞或僵局。
In this paper, we propose a distributed algorithm to uniformly scatter the robots along a grid, with robots on alternate nodes of this grid distribution. These homogeneous, autonomous mobile robots place themselves equidistant apart on the grid, which can be required for guarding or covering a geographical area by the robots. The robots operate by executing cycles of the states "look-compute-move". In the look phase, it looks to see the position of the other robots; in the compute phase, it computes a destination to move to; and then in the move phase, it moves to that computed destination. They do not interact by message passing and can recollect neither the past actions nor the looked data from the previous cycle, i.e., oblivious. The robots are semi-synchronous, anonymous and have unlimited visibility. Eventually, the robots uniformly distribute themselves on alternate nodes of a grid, leaving the adjacent nodes of the grid vacant. The algorithm presented also assures no collision or deadlock among the robots.
