講演抄録/キーワード |
講演名 |
2022-05-20 14:45
Energy-Constrained Autonomous Mobile Robots: Computational Power and Cross-Model Analysis Kevin Buchin(TU Dort.)・Paola Flocchini(Univ. of Ottawa)・Irina Kostitsyna・Tom Peters(TU Eind.)・Nicola Santoro(Carleton Univ.)・○Koichi Wada(Hosei Univ.) COMP2022-9 |
抄録 |
(和) |
本稿では二次元平面上をLCM(Look-Compute-Move)-サイクルで動作する自律分散ロボット群の計算能力を議論する.4つの異なるモデル(OBLOT, FSTA, FCOM, LUMI)のもとでアルゴリズムの観点からロボットの計算能力が議論されているが,これまではロボットは無尽蔵なエネルギーが仮定されていた.本稿では,無尽蔵の仮定を取り去り,エネルギーが制限されたロボット群の計算能力を議論する.エネルギーが制限されたロボットに対して,ロボットの記憶能力と通信能力がその計算能力与える影響を完全に解明する.特に,$LU$においては,エネルギー制限がロボットの計算能力には影響しないことを示し,他の3つのモデルにおいては,エネルギー制限がロボットの計算能力を高めるという(一見直感には反する)ことを示す. |
(英) |
We consider distributed systems of identical autonomous computational entities, called
robots, moving and operating in the plane in synchronous Look-Compute-Move (LCM) cycles. The algorithmic capabilities of these systems have been extensively investigated in the literature under four distinct models (OBLOT, FSTA, FCOM, LUMI), each identifying different levels of memory persistence and communication capabilities of the robots. Despite their differences, they all always assume that robots have
unlimited amounts of energy.
In this paper, we remove this assumption and start the study of the computational capabilities of robots whose energy is limited, albeit renewable.
We first study the impact that memory persistence and communication capabilities have on the computational power of such energy-constrained systems of robots; we do so by analyzing the computational relationship between the four models under this energy constraint.
We provide a complete characterization of this relationship.
We then study the difference in computational power caused by the energy restriction and provide a complete characterization of the relationship between energy-constrained and unrestricted robots in each model. We prove that within LUMI there is no difference;
an integral part of the proof is the design and analysis of an algorithm that in LUMI allows energy-constrained robots to execute correctly any protocol for robots with unlimited energy.
We then show the (apparently counterintuitive) result that in all other models,
the energy constraint actually provides the robots with a computational advantage. |
キーワード |
(和) |
無記憶ロボット / ライト付きロボット / エネルギー制限ロボット / モデル間の能力比較 / / / / |
(英) |
oblivious robots / luminous robots / energy-constrained robots / comparison of models / / / / |
文献情報 |
信学技報, vol. 122, no. 33, COMP2022-9, pp. 54-61, 2022年5月. |
資料番号 |
COMP2022-9 |
発行日 |
2022-05-12 (COMP) |
ISSN |
Online edition: ISSN 2432-6380 |
著作権に ついて |
技術研究報告に掲載された論文の著作権は電子情報通信学会に帰属します.(許諾番号:10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) |
PDFダウンロード |
COMP2022-9 |