This paper presents deployment strategies to achieve full visibility of 1.5D and 2.5D polyhedral environments for a team of mobile robots. Agents may only communicate if they are within line-of-sight. In 1.5D polyhedral terrains we achieve this by algorithmically determining a set of locations that the robots can occupy in a distributed fashion. We characterize the time of completion of the resulting algorithm, which is dependent on the number of peaks and the initial condition. In 2.5D polyhedral terrains we achieve full visibility by asynchronously deploying groups of agents who utilize graph coloring and may start from differential initial conditions. We characterize the total number of agents needed for deployment as a function of the environment properties and allow the algorithm to activate additional agents if necessary. We provide lower and upper bounds for the time of completion as a function of the number of vertices in a planar graph representing the environment. We illustrate our results in simulation and an implementation on a multi-agent robotics platform.

本文提出了一组部署策略，以实现一组移动机器人对1.5D和2.5D多面体环境的完全可见性。座席只有在视线范围内才能进行通信。在1.5D多面体地形中，我们通过算法确定机器人可以分布的一组位置来实现这一目标。我们描述了完成算法的时间，该时间取决于峰的数量和初始条件。在2.5D多面体地形中，我们通过异步部署利用图形着色的代理组来实现完全可见性，这些代理可以从图的初始条件开始。我们根据环境属性来确定部署所需的代理总数，并在必要时允许算法激活其他代理。我们提供了完成时间的上限和下限，它是代表环境的平面图中顶点数量的函数。我们在仿真中说明了我们的结果，并在多代理机器人平台上实现了该实例。