Once I have a frontier set for a structure, I need to develop a set of traffic
laws that will allow the swarm to traverse the structure and add blocks to it in
a way that preserves the frontier set's validity and does not result in robot
deadlocks using construction lanes.
Odd lanes of ramp in Y are entry, even are exit for each construction lane.
If a robot is right behind one which drops a block such that it is no longer
on frontier-adjacent set of cells, then the robot needs to update its frontier
set and its chosen drop location. BUT, it proceeds along the old frontier
adjacent set path until it reaches the new one, then switches to the new set
AFTER block drop.
When proceeding along the lane, when a robot reaches the frontier adjacent set
with an opening in front of them, put a block there, Otherwise execute a U
turn to the exit lane. If there is an opening on the set behind the robot,
place the block there. Otherwise move forward 1 cell and place a block on the
cell the robot just vacated.
jharwell
commented
4 years ago
Once I have a frontier set for a structure, I need to develop a set of traffic laws that will allow the swarm to traverse the structure and add blocks to it in a way that preserves the frontier set's validity and does not result in robot deadlocks using construction lanes.
Odd lanes of ramp in Y are entry, even are exit for each construction lane.
If a robot is right behind one which drops a block such that it is no longer on frontier-adjacent set of cells, then the robot needs to update its frontier set and its chosen drop location. BUT, it proceeds along the old frontier adjacent set path until it reaches the new one, then switches to the new set AFTER block drop.
When proceeding along the lane, when a robot reaches the frontier adjacent set with an opening in front of them, put a block there, Otherwise execute a U turn to the exit lane. If there is an opening on the set behind the robot, place the block there. Otherwise move forward 1 cell and place a block on the cell the robot just vacated.