异步分布式探照灯调度
Asynchronous Distributed Searchlight Scheduling
摘要：
本文提出并比较了两种简单的异步分布式探照灯调度算法多机器人代理在非凸多边形环境。探照灯是一种不能穿透环境边界的物质发出的光线。当且仅当一个点在某一时刻位于光线上时，探照灯才能检测到该点。目标是能够以无限速度连续移动的点。所提出的算法的目标是使代理以分布式方式协调其探照灯的回转（围绕一点旋转），即，仅使用本地感测和有限的通信，使得任何目标将必然在有限的时间内被检测到。我们开发的第一个算法，称为DOWSS（分布式单向扫描策略），是Sugihara等人在1990年最初描述的已知算法的分布式版本\cite{KS-IS-MY:90}，但它在清除整个环境时可能非常缓慢，因为一次只能切换一个探照灯。为了减少清理环境的时间，我们开发了第二种算法，称为PTSS（并行树扫描策略），其中探照灯并行扫描，如果警卫被放置在属于一个类的环境分区，我们称之为PTSS分区。最后，我们讨论了DOWSS和PTSS如何与部署相结合，或扩展到有漏洞的环境。
英文摘要：
This paper develops and compares two simple asynchronous distributed searchlight scheduling algorithms for multiple robotic agents in nonconvex polygonal environments. A searchlight is a ray emitted by an agent which cannot penetrate the boundary of the environment. A point is detected by a searchlight if and only if the point is on the ray at some instant. Targets are points which can move continuously with unbounded speed. The objective of the proposed algorithms is for the agents to coordinate the slewing (rotation about a point) of their searchlights in a distributed manner, i.e., using only local sensing and limited communication, such that any target will necessarily be detected in finite time. The first algorithm we develop, called the DOWSS (Distributed One Way Sweep Strategy), is a distributed version of a known algorithm described originally in 1990 by Sugihara et al \cite{KS-IS-MY:90}, but it can be very slow in clearing the entire environment because only one searchlight may slew at a time. In an effort to reduce the time to clear the environment, we develop a second algorithm, called the PTSS (Parallel Tree Sweep Strategy), in which searchlights sweep in parallel if guards are placed according to an environment partition belonging to a class we call PTSS partitions. Finally, we discuss how DOWSS and PTSS could be combined with with deployment, or extended to environments with holes.
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。
