We consider the distributed setting of N autonomous mobile robots that operate in Look-Compute-Move (LCM) cycles and communicate with other robots using colored lights following the robots with lights model. We assume obstructed visibility under which a robot cannot see another robot if a third robot is positioned between them on the straight line connecting them. We study the fundamental Complete Visibility problem of repositioning N robots, starting from N distinct points, on a plane so that each robot is visible to all others. We are interested in fault-tolerant algorithms. We study fault-tolerance with respect to failures on the mobility of robots. Therefore, any algorithm for Complete Visibility is required to provide visibility between all non-faulty robots (i.e., no three non-faulty robots are collinear and no faulty robot is between two non-faulty robots on the straight line connecting them), independently of the behavior of the faulty ones. We model mobility failures as crash faults in which each faulty robot may stop its movement at any time and, once it stopped moving, it will remain stationary indefinitely thereafter. There exists an algorithm for this problem that tolerates a single faulty robot in the semi-synchronous setting under both-axis agreement. In that algorithm, the light of the faulty robot does not need to work correctly after the robot experiences fault. In this article, we assume the model in which, even after a robot experiences fault, its light still operates correctly and provide the first algorithm for Complete Visibility that tolerates $f\le N$ faulty robots in the asynchronous setting under one-axis agreement. The proposed algorithm has many interesting properties.

我们考虑了以Look-Compute-Move（LCM）周期运行的N个自主移动机器人的分布式设置，并遵循带灯光模型的机器人，使用彩色灯光与其他机器人进行通信。我们假设视线受阻，如果在连接它们的直线上放置了第三个机器人，则该机器人将无法看到另一个机器人。我们研究了从平面上的N个不同点开始重新放置N个机器人的基本完全可见性问题，以便每个机器人对其他所有人可见。我们对容错感兴趣算法。我们研究关于机器人移动性故障的容错能力。因此，需要使用任何“完整可见性”算法来提供所有非故障机器人之间的可见性（即，没有三个非故障机器人是共线的，并且在连接它们的直线上的两个非故障机器人之间也没有故障机器人），而与有缺陷的人的行为。我们将移动性故障建模为崩溃故障每个有故障的机器人都可以随时停止运动，一旦停止运动，此后它将无限期保持静止。存在一种针对该问题的算法，该算法在双轴协议下允许在半同步设置下出现单个故障的机器人。在该算法中，发生故障的机器人的光不需要在机器人发生故障后正常工作。在本文中，我们假设即使在机器人出现故障后，它的灯光仍然可以正常运行，并且提供了第一个可容忍的“完整可见性”算法$F\le ñ$在单轴协议下异步设置中出现故障的机器人。所提出的算法具有许多有趣的特性。