Formation and agreement problems for synchronous mobile robots with limited visibility

摘要: Discusses fundamental formation and agreement problems for autonomous, synchronous robots with limited visibility. Each is a mobile processor that, at each discrete time instant, observes the relative positions of those that are within distance V itself, computes its new position using given algorithm, then moves to position. The main difference between this work many previous ones here, visibility assumed be V, some constant V>0. authors discuss include single point by on common x-y coordinate system initial distribution, they present algorithms these problems, except problem direction (a subproblem system), which not solvable even unlimited discussions indicate correctness proofs can considerably more complex than