論文

査読有り
2018年4月18日

Team assembling problem for asynchronous heterogeneous mobile robots

Theoretical Computer Science
  • Zhiqiang Liu
  • ,
  • Yukiko Yamauchi
  • ,
  • Shuji Kijima
  • ,
  • Masafumi Yamashita

721
開始ページ
27
終了ページ
41
記述言語
英語
掲載種別
研究論文(学術雑誌)
DOI
10.1016/j.tcs.2018.01.009
出版者・発行元
Elsevier B.V.

We investigate the team assembling problem for a swarm of heterogeneous mobile robots which requires the robots to autonomously partition themselves into teams satisfying a given specification A=(a1,a2,…,ak), where ai is the number of robots with color (i.e., robot type) i in one team. A robot, which is represented by a point in the two-dimensional Euclidean space, is asynchronous, oblivious, and anonymous in the sense that robots with the same color are indistinguishable and all robots execute the same algorithm to determine their moves. It has neither any access to the global coordinate system nor any explicit communication medium. We show that GCD(a1,a2,…,ak)=1 is a necessary and sufficient condition for the robots to have an algorithm to solve the team assembling problem in a self-stabilizing manner, i.e., starting from any arbitrary initial configuration, the robots form teams according to the specification.

リンク情報
DOI
https://doi.org/10.1016/j.tcs.2018.01.009
URL
http://www.scopus.com/inward/record.url?eid=2-s2.0-85043520791&partnerID=MN8TOARS
URL
http://orcid.org/0000-0001-6061-2330
ID情報
  • DOI : 10.1016/j.tcs.2018.01.009
  • ISSN : 0304-3975
  • ORCIDのPut Code : 43919690
  • SCOPUS ID : 85043520791

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