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arXiv 0902.2851cs.DCcs.MA
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领导者选举问题与模式形成问题

Leader Election Problem Versus Pattern Formation Problem

Yoann Dieudonné, Franck Petit, Vincent Villain

摘要:

领导者选举和任意模式形成是一组自主移动机器人的基本任务。前者在于区分一个独特的机器人,称为领导者。后者的目的是在平面上安排机器人,以形成任何给定的模式。这两个任务的可解决性被证明是必要的,以便实现更复杂的任务。在本文中,我们研究了这两个任务之间的关系的模型,称为CORDA,其中的机器人是弱在几个方面。特别是,它们是完全异步的,没有直接的通信手段。他们不记得任何先前的观察或计算在任何先前的步骤中执行。这种机器人被认为是健忘的。机器人也是统一和匿名的,也就是说,它们都有相同的程序,不使用全局参数(如身份)来区分它们中的任何一个。此外,我们假设它们中没有一个共享任何类型的共同坐标机制或共同的方向感,并且我们讨论了共同的手性(即,手性)。在这样的系统中,Flochini等人在[11]中证明,如果可以为n个\geq 3形成任何模式,则可以为n个\geq 3机器人选出一个领导者。在本文中,我们表明,反之亦然n \geq 4时,机器人共享一个共同的手性和n \geq 5时,他们不。因此,我们推断,与手性(resp。无手性)对于n \geq 4(分别为n \geq 5)。

英文摘要:

Leader election and arbitrary pattern formation are funda- mental tasks for a set of autonomous mobile robots. The former consists in distinguishing a unique robot, called the leader. The latter aims in arranging the robots in the plane to form any given pattern. The solv- ability of both these tasks turns out to be necessary in order to achieve more complex tasks. In this paper, we study the relationship between these two tasks in a model, called CORDA, wherein the robots are weak in several aspects. In particular, they are fully asynchronous and they have no direct means of communication. They cannot remember any previous observation nor computation performed in any previous step. Such robots are said to be oblivious. The robots are also uniform and anonymous, i.e, they all have the same program using no global parameter (such as an identity) allowing to differentiate any of them. Moreover, we assume that none of them share any kind of common coordinate mechanism or common sense of direction and we discuss the influence of a common handedness (i.e., chirality). In such a system, Flochini et al. proved in [11] that it is possible to elect a leader for n \geq 3 robots if it is possible to form any pattern for n \geq 3. In this paper, we show that the converse is true for n \geq 4 when the robots share a common handedness and for n \geq 5 when they do not. Thus, we deduce that with chirality (resp. without chirality) both problems are equivalent for n \geq 4 (resp. n \geq 5) in CORDA.

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

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