循环行进：协作式多机器人寻宝
Going in Circles: Collaborative Multi-Robot Treasure Hunting
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中文总结 AI 辅助
本文研究多机器人在单位圆上的寻宝问题，通过求解单机器人辅助最优路径问题，为原搜索问题得出明确上下界，以最小化所有机器人访问所有宝藏的总时间。
中文摘要 AI 辅助
本文研究多机器人搜索访问问题，涉及n个从原点出发的机器人，以及隐藏在单位圆𝒞上的k个未知宝藏。机器人可在平面内任意独立移动，最大速度为1，且能即时共享发现信息。目标是确定一种算法，使所有机器人分别访问每个宝藏所需的总时间最小。为明确该任务的基础极限，我们首先求解单位圆𝒞上单个机器人的辅助最优路径问题，该机器人拥有宝藏位置的完整先验知识。对该辅助问题的精确分析，为原搜索问题得出了明确的上下界。
英文摘要
This paper investigates a multi-robot search-and-visit problem involving $n$ robots starting at the origin and $k$ unknown treasures hidden on the unit circle $\mathcal{C}$. The robots move independently anywhere in the plane with a maximum speed of 1 and instantly share discovery information. The goal is to determine an algorithm that minimizes the total time needed for all robots to individually visit every treasure. To establish the foundational limits of this task, we first solve an auxiliary optimal routing problem for a single robot on $\mathcal{C}$ that possesses complete prior knowledge of the treasure locations. The exact analysis of this auxiliary problem yields explicit upper and lower bounds for the original search problem.
