An autonomous mobile robot system is a distributed system consisting of mobile computational entities (called robots) that autonomously and repeatedly perform three operations: Look, Compute, and Move. Various problems related to autonomous mobile robots, such as gathering, pattern formation, or flocking, have been extensively studied to understand the relationship between each robot's capabilities and the solvability of these problems. In this study, we focus on the complete visibility problem, which involves relocating all the robots on an infinite grid plane such that each robot is visible to every other robot. We assume that each robot is a luminous robot (i.e., has a light with a constant number of colors) and opaque (not transparent). In this paper, we propose an algorithm to achieve complete visibility when a set of robots is given. The algorithm ensures that complete visibility is achieved even when robots operate asynchronously and have no knowledge of the total number of robots on the grid plane using only two colors.

翻译：自主移动机器人系统是一种由移动计算实体（称为机器人）组成的分布式系统，这些机器人自主且重复地执行三种操作：观察、计算和移动。关于自主移动机器人的各种问题，如集结、模式形成或集群运动，已被广泛研究，以理解每个机器人的能力与这些问题可解性之间的关系。本研究聚焦于完全可见性问题，该问题涉及将无限网格平面上的所有机器人重新定位，使得每个机器人都能被其他所有机器人看到。我们假设每个机器人是发光的（即具有恒定颜色数的指示灯）且不透明。本文提出了一种在给定机器人集合时实现完全可见性的算法。该算法确保即使在机器人异步运行且不知道网格平面上机器人总数的情况下，仅使用两种颜色即可实现完全可见性。