Departmental Bulletin Paper 自律分散ファットロボットに対するグリッド上における集合アルゴリズム

白川, 遥平

This thesis concerns gathering problems for fat robots in seneral grids,such as a two dimensional orthogonal grid, a hexagonal grid and a three dimensional orthogonal grid.We also consider whether robots know a common coordinate system or not.We propose algorithms to solve gathering problems for cases with combinations of the following conditions: schedulers (semi-synchronous or asynchronous), knowledge of the number of robots (known or unknown), radius of robots (small or large) for each grid.Key Words : Autonomous Mobile Robots,Fat Robots, Gathering Problem

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