聚集半同步调度的两状态机器人
Gathering Semi-Synchronously Scheduled Two-State Robots
AI总结：
该研究聚焦半同步场景下的机器人聚集问题，证明2色FSTA和FCOM机器人无额外条件时无法解决该问题，同时改进了2色FSTA机器人聚集算法的适用条件。
摘要：
我们研究同步场景下n台自主移动机器人的Gathering（聚集）问题，机器人配备名为light（光）的持久存储器。众所周知，在机器人无光源的基础模型OBLOT中，即使系统是半同步的（称为SSYNCH），聚集问题也无法解决。但如果每台机器人都配备某种可设置为恒定数量颜色的光源，聚集就成为可能。在FCOM模型中，机器人只能看到其他机器人的光源；在FSTA模型中，每台机器人只能观测自身的光源；在LUMI模型中，所有机器人都能看到所有光源。本文聚焦同步场景下配备2色光源的FSTA机器人。我们证明，在无额外条件的SSYNCH场景下，即使具备刚性移动、手性一致和最小移动距离约定，2色FSTA和FCOM机器人也无法解决聚集问题。我们还改进了此前适用于SSYNCH场景下2色FSTA机器人的聚集算法的条件。
英文摘要：
We study the problem \emph{Gathering} for $n$ autonomous mobile robots in synchronous settings with a persistent memory called \emph{light}. It is well known that Gathering is impossible in the basic model ($OBLOT$) where robots have no lights, even if the system is semi-synchronous (called SSYNCH). Gathering becomes possible, however, if each robot has a light of some type that can be set to a constant number of colors. In the $FCOM$ model, the robots can only see the lights of other robots. In the $FSTA$ model, each robot can only observe its own light. In the $LUMI$ model, all robots can see all lights. This paper focuses on $FSTA$ robots with 2-colored lights in synchronous settings. We show that 2-color $FSTA$ and $FCOM$ robots cannot solve Gathering in SSYNCH without additional conditions, even with rigid movement and agreement of chirality and the minimum moving distance. We also improve the condition of the previous gathering algorithm for $FSTA$ robots with 2-color working in SSYNCH.
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