发表机构
Indian Institute of Technology Jodhpur（印度理工学院焦特布尔分校）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对预算约束和移动故障下的不透明机器人群体，提出一种确定性分布式算法，利用公共固定参考点和12种光色，在SSYNC模型下实现非故障机器人的无碰撞相互可见性，同时尊重每个机器人的移动预算。
AI 中文摘要
我们研究了在预算约束的移动故障模型下，由$n\ge3$个自主移动机器人组成的群体中的相互可见性问题。机器人是不透明的，因此如果三个机器人共线，中间的机器人会阻碍另外两个机器人之间的可见性。每个机器人被分配一个有限的移动预算，这反映了其有限的能量，并限制了其在执行过程中可以移动的总距离。此外，任意数量的机器人可能因移动故障而永久失去移动能力。目标是设计一种分布式算法，使非故障机器人能够协调其移动，从而在有限时间内，每个非故障机器人都能无阻碍地看到系统中的所有机器人（包括故障机器人），同时遵守规定的移动预算。我们考虑在$\mathsf{SSYNC}$模型下运行的非刚性移动的发光机器人，它们对局部坐标系没有任何共识，仅配备一个{\it 公共固定参考点}。我们提出了一种确定性分布式算法，尽管存在任意数量的移动故障，该算法也能解决该问题。该算法保证非故障机器人的相互可见性，尊重每个机器人的移动预算，为机器人提供无碰撞的移动，并且仅使用12种光色。
英文摘要
We investigate the mutual visibility problem for a swarm of $n\ge3$ autonomous mobile robots under the budget-constrained mobility fault model. The robots are opaque, so if three robots are collinear, the middle robot obstructs the visibility between the other two. Each robot is assigned a finite movement budget, reflecting its limited energy, that bounds the total distance it may traverse during the execution. Moreover, an arbitrary number of robots may become permanently immobile due to mobility faults. The objective is to design a distributed algorithm that enables the non-faulty robots to coordinate their movements so that, within a finite time, every non-faulty robot attains unobstructed visibility of all robots in the system, including the faulty ones, while respecting the prescribed movement budget. We consider luminous robots operating under the $\mathsf{SSYNC}$ model with non-rigid movements, without any agreement on their local coordinate systems, and equipped only with a {\it common fixed reference point}. We present a deterministic distributed algorithm that solves the problem despite an arbitrary number of mobility faults. The algorithm guarantees mutual visibility for the non-faulty robots, respects the movement budget of every robot, provides collision-free movements for the robots, and uses only 12 light colors.
