Table 2. Reference model RM 2.1-ℓ.
Novelties with respect to RM 2 are highlighted. RM 2.1-ℓ is a parametric family of models that differ one from the other in the amount of information that robots can exchange. The parameter ℓ identifies a specific model within the family by defining the number of bits of information that robots can exchange: in RM 2.1-2, robots can exchange two bits of information; in RM 2.1-3, three. RM 2.1-ℓ is a proper extension of RM 2: for ℓ = 1, RM 2.1-1≡ RM 2.
| Input | Value | Description |
|---|---|---|
| proxi∈{1,…,8} | [0,1] | reading of proximity sensor i |
| lighti∈{1,…,8} | [0,1] | reading of light sensor i |
| gndj∈{1,2,3} | {black, gray, white} | reading of ground sensor j |
| n | [0,19] | number of neighboring robots perceived |
| V | ([0.5, 20], [0, 2π]) | their relative aggregate position |
| bh∈{1,…,2ℓ−1} | [0,19] | number of neighbors broadcasting message h |
| Vh∈{1,…,2ℓ−1} | ([0.5, 20], [0, 2π]) | their relative aggregate position |
Notes.
Period of the control cycle: 100 ms.