
nirnayaatmaka kalayika samasya

nirnayaatmaka kalayika samasya anedi computer sains mariyu roboticslo oka samasya, indulo iddaru ledhaa anthakante ekkuva robotlu ledhaa aatagaallu untaaru, vaaru mundugaa nirnayinchina suuchanalanu anusarinchadam dwara okarinokaru kanugonaali. itara robotlu ledhaa robotla sthaanam teliyakundaane robotlu oka nirdishta pradaesamloe ledhaa kalise pradaesamloe kalusukovadam dheeni lakshyam.
nirnayaatmaka kalayika samasyalo, prati robot oke vidhamaina suuchanalanu anusaristundi, conny prati robot okadaanikokati vaeru cheyadaaniki oka pratyaekamaina label ledhaa identifier ketayinchabadutundi. eee pratyaekamaina label samasya yokka samaruupatanu vichchinnam cheyadaaniki upayoginchabadutundi, endukante idhi robotlu okadaanikokati vaeru cheyadaaniki mariyu suuchanalanu oka nirdishta kramamlo anusarinchadaaniki anumatistundi.
nirnayaatmaka kalayika samasya saadhaaranamgaa robotlu samakaaleekarinchi panicheyadam dwara parishkarinchabadutundi, antey avanni oke samayamlo suuchanalanu anusaristaayi [4]. ayithe, samasya yokka naan-synchronous versionlu kooda unnaayi, ikkada robotlu ververu samayaallo panicheyavacchu ledhaa ververu antargata gadiyaralanu kaligi undavacchu [5].
nirnayaatmaka kalayika samasya robotics, pampinhee vyavasthalu mariyu computer netvarklatho sahaa vistruta shreni rangaalalo anuvartanaalanu kaligi undhi. eee rangaalalo kalise mariyu samanvayam kosam algorithamlu mariyu protocolla paniteerunu anchanaa vaeyadaaniki idhi tarachugaa oka pramaanamgaa upayoginchabadutundi [7].
sameeksha.
nirnayaatmaka kalayika samasya yokka samakaaleekarana samskaranalo, rendu robotlu praarambhamlo parimita, anusandhaaninchabadina, daari mallinchani graphlo ekapaksha nodla vadda unchabadataayi. graph yokka parimaanam mariyu nirmaanam robotlaku teliyadu.
robot dwara telisina samacharam eee krindi vidhamgaa untundih
nirnayaatmaka kalayika samasyanu parishkarinchadaaniki, rendu robotlaku nirnayaatmaka suuchanala shrenini ivvali, idhi robotlu okadaanikokati kanugonadaaniki vaari telisina samacharanni upayoginchadaaniki veelu kalpistundi. robotlu rendoo oke samayamlo graphlo oke nodnu aakraminchinatlayithe avi okadaanikokati kanugonnatlu pariganinchabadataayi.
parishkaralu.
nirnayaatmaka kalayika samasyanu parishkarinchadaaniki aneka algorithamlu unnaayi. konni parishkaralu krinda ivvabaddaayi
dess maark mariyu itarulu..
2006loe, desmark mariyu itarulu. suutram _ 1 kii anulomaanupaatamlo nirnayaatmaka kalayika samasyanu parishkarinche parishkaranni samarpinchaaru, ikkadah
eee parishkaram anuvainadi kaadu, endukante "τ" anedi nirnayaatmaka kalayika samasya yokka input paramiti mariyu anduvalla ekapakshamgaa peddadi kaavacchu.
kovalsky mariyu malinovsky.
2008loe, kovalsky mariyu malinovsky suutram _ 2 samayamlo samasyanu parishkarinche parishkaranni samarpinchaaru. idhi gananeeyamaina merugudala, endukante eee samayamlo sanklishtata "τ" paie aadharapadi undadu. ayithe, eee parishkaaramlo oka pradhana lopam undhi. idhi "bactracking" nuu upayogistundi, ikkada robotlu vaaru prayaaninchina prati anchunu track cheyali. idhi oka lopam endukante idhi graph yokka nirmaanam (antey, adhi elaa label cheyabadindi) mariyu robotla indriya mariyu ghnaapakasakti saamardhyaalapai oohalanu unchutundi.
taa-shma mariyu zwick.
2014loe taa-shma mariyu zwick samarpinchina parishkaram suutram _ 3 samayamlo samasyanu parishkaristundi. taggina samaya sanklishtatatoe paatu (idhi "τ" paie aadhaarapadadu), eee parishkaram kooda backtracking upayoginchadu. badulugaa, idhi samasyanu parishkarinchadamlo sahaayapadataaniki saarvatrika prayaana kramaala bhavananu upayogistundi.
saarvatrika prayaana kramam anedi oka nirdishta sankhyalo sheershaalato mariyu edainaa prarambha sheersham kosam edainaa saadhaarana graph kosam graph prayaanamthoo kuudina suuchanala kramam. robotlu saadhaarana graphlo undakapovachhu kabatti, "n" nodes mariyu degree "d" kosam saarvatrika traversal sequence upayoginchabadutundi, ikkada "d" anedi graph yokka garishta degree. robot prastuta node yokka poruguvaariki prayaanistundani perkone enchukunna saarvatrika traversal kramamlo edainaa suuchanalu (i.ii.prastuta node degree <"d") nuu vismaristaaru. ilaa cheyadam dwara, "d" kante takkuva degree unna graphloni anni nodlu vaati mottam degreeni "d" varaku teesukuraavadaaniki taginanta selph-looplanu kaligi unnatlu pariganinchabadataayi, idhi graphnu saarvatrika traversals prayojanam kosam kramabaddhamgaa pariganinchadaaniki samarthavantamgaa anumatistundi.
taa-shma mariyu zwick yokka parishkaram yokka praathamika aalochana emitante, robotlalo okati graph yokka puurti prayaanaanni puurti chesthe, maroka robot panilekunda ledhaa "vishraanti" gaa unte, appudu rendu robotlu kalustaayani haamii ivvabadutundi. graph parimaanam teliyadu kabatti, robotlu kramaanugatamgaa vishraanti teesukuntu "n" viluvalanu penchadaaniki saarvatrika prayaana kramaanni amalu chestaayi. robot traversal mundu ledhaa taruvaata vishraanti teesukuntundaa anedi daani label viluvapai aadharapadi untundi.
udaaharanaku, robotlalo okati eee kramaanni amalu cheyagaladu
suutram _ 4
itara robot eee kramaanni amalu chestundih
suutram _ 5
ikkada "i" nodlatho unna graph kosam ui anedi saarvatrika traversal sequence, ui anedi aaa saarvatrika traversal sequenceloni dasala sankhya, mariyu 0keey anedi robot vishraanti teesukune "keey" dasalanu suuchistumdi. vaastava graph parimaanaaniki saarvatrika traversal kramam oka robot dwara amalu cheyabadutundi, marokati aaa traversalloni dasala sankhya kosam untundi. ayithe, rendu robotlu oke samayamlo sakriyam cheyabadithene idhi panichestundi.
ververu samayaallo robotlu sakriyam cheyabadina sandarbhaanni cover cheyadaaniki, parugettavalasina kramamlo prati dasha tarvaata (traversal mariyu migilina vyavadhilo) migilina vyavadhi untundi. udaaharanaku, robotlalo okati eee kramaanni amalu chestundih
suutram _ 6
ikkada σi anedi u1 yokka "i" va dasha mariyu πi anedi u2 yokka "i" va dasha.
prati robot nadustunna kramaanni adhikarikamga pradarsinchadaaniki, kontha adanapu sangnaamaanam avasaram. veeluh
oka robot yokka label 0 mariyu maroka robot yokka label 1 anie bhaavisthe, prati robot amalu chese kramam ilaa untundih
suutram _ 10
upa-krama suutram _ 11 nuu "block" anie pilustaaru mariyu suutram _ 12 gaa tirigi vraayavacchu.
σ = ui mariyu m = ui ayithe, blacknu marinta saralikrutam cheyavachuhu
suutram _ 13
suutram _ 14
paina perkonna rendu panktulanu "mukkalu" anie pilustaaru. oka bhaagam antara-leave vishraanti kaalaalato saarvatrika prayaana kramaanni kaligi untundi, maroka bhaagam 2 "mea" 2 podavu gala vishraanti kaalam.
robot yokka label 0 ayithe, adhi nadiche prati block dheeniki samanamga untundih
suutram _ 15
label 1 ayithe, adhi nadiche prati block dheeniki samanamga untundih
suutram _ 16
vislaeshanha.
paina jabita cheyabadina suuchanala kramam 0 mariyu 1 lebullatho unna rendu robotlanu o ("n" 2c) samaya dasala tarvaata kalavadaniki anumatistundi.
robotlu oo ("enn" sii) samaya dasala tarvaata matrame kalavadaniki veelugaa eee parishkaranni elaa vistarinchaalo mariyu ekapaksha lebullatho elaa vyavaharinchaalo (robotlu oo ("enn" 5 + "ell") samaya dasalanu kalise varaku samayanni penchutundi) taa-shma mariyu zwick chuupistaaru.

