As computer controlled entities are set to move and explore more complex environments they need to be able to perform navigation tasks, like finding minimal cost routes. Much work has been done on this problem with a single entity in a continuous environment. However these entities may be in teams and their actions may be constrained by the need to consider the actions of other entities. We consider the case of two entities wishing to reach their destinations while travelling the minimum distance and remaining in sight of each other. A version of this problem in continuous space has been addressed previously; however, the problem of minimum length paths does not only exist in continuous space. Robots may have restricted orientations in movement. Also, domains such as circuit design and computer games require discrete movements and restricted orientation. The restricted orientation and the fact that (even in genus zero environments) minimal length paths may not be unique present some challenges.This paper investigates the problem of two entities in a discrete setting, moving to preserve visibility and provides algorithms for computing schedules that minimise the total distance travelled.
由于计算机控制的实体可以移动和探索更复杂的环境,因此它们需要能够执行导航任务,例如查找最小成本的路线。在连续环境中使用单个实体已针对此问题进行了大量工作。但是,这些实体可能处于团队中,其行为可能因需要考虑其他实体的行为而受到限制。我们考虑两个实体希望以最小距离行进并且彼此保持视线时到达目的地的情况。先前已经解决了连续空间中该问题的一种形式。但是,最小长度路径的问题不仅存在于连续空间中。机器人的运动方向可能受到限制。而且,诸如电路设计和计算机游戏之类的领域需要离散的运动和受限的方向。受限制的方向以及最小长度路径(即使在零类环境中)可能也不是唯一的事实也带来了一些挑战。本文研究了离散环境中两个实体的问题,以保持可见性,并提供了用于最小化时间表的算法总行驶距离。 P>
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