具有有限可见性的异步机器人半同步性的一个特征及其在发光同步器设计中的应用
A Characterization of Semi-Synchrony for Asynchronous Robots with Limited Visibility, and its Application to Luminous Synchronizer Design
摘要：
移动机器人系统由匿名的移动机器人组成，每个机器人根据共同的算法自主地执行感测、计算和移动，使得机器人集体地完成给定的任务。有两个主要的模型的时间和激活的机器人。在半同步模型（SSYNC）中，机器人共享一个共同的时间概念;在每个时间单位，一个机器人子集被激活，每个机器人在该时间单位内执行所有三个动作（感知，计算和移动）。在异步模型（ASYNC）中，没有共同的时间概念，机器人在任意时间被激活，每个动作的持续时间是任意的但有限的。在本文中，我们研究的问题同步ASNYC机器人有限的传感范围，即，能见度有限。我们首先提出了一个充分条件的ASYNC执行一个共同的算法${\cal A}$有一个相应的SSYNC执行${\cal A}$，我们的条件对机器人的激活时间表和运动过程中的可见性约束的时间约束。然后，我们证明了这个条件是必要的（概率$1$）下的随机ASYNC对手。最后，我们提出了一个同步算法的发光ASYNC机器人有限的能见度，每个配备了一盏灯，可以采取恒定数量的颜色。我们的算法使发光ASYNC机器人模拟任何算法${\cal A}$，设计用于（非发光）SSYNC机器人和满足可见性约束。
英文摘要：
A mobile robot system consists of anonymous mobile robots, each of which autonomously performs sensing, computation, and movement according to a common algorithm, so that the robots collectively achieve a given task. There are two main models of time and activation of the robots. In the semi-synchronous model (SSYNC), the robots share a common notion of time; at each time unit, a subset of the robots is activated, and each performs all three actions (sensing, computation, and movement) in that time unit. In the asynchronous model (ASYNC), there is no common notion of time, the robots are activated at arbitrary times, and the duration of each action is arbitrary but finite. In this paper, we investigate the problem of synchronizing ASNYC robots with limited sensing range, i.e., limited visibility. We first present a sufficient condition for an ASYNC execution of a common algorithm ${\cal A}$ to have a corresponding SSYNC execution of ${\cal A}$; our condition imposes timing constraints on the activation schedule of the robots and visibility constraints during movement. Then, we prove that this condition is necessary (with probability $1$) under a randomized ASYNC adversary. Finally, we present a synchronization algorithm for luminous ASYNC robots with limited visibility, each equipped with a light that can take a constant number of colors. Our algorithm enables luminous ASYNC robots to simulate any algorithm ${\cal A}$, designed for the (non-luminous) SSYNC robots and satisfying visibility constraints.
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