In the field of distributed computing by robot swarms, the research comprehends manifold models where robots operate in the Euclidean plane through a sequence of look-compute-move cycles. Models under study differ for (i) the possibility of storing constant-size information, (ii) the possibility of communicating constant-size information, and (iii) the synchronization mode. By varying features (i,ii), we obtain the noted four base models: OBLOT (silent and oblivious robots), FSTA (silent and finite-state robots), FCOM (oblivious and finite-communication robots), and LUMI (finite-state and finite-communication robots). Combining each base model with the three main synchronization modes (fully synchronous, semi-synchronous, and asynchronous), we obtain the well-known 12 models. Extensive research has studied their computational power, proving the hierarchical relations between different models. However, only transparent robots have been considered. In this work, we study the taxonomy of the 12 models considering collision-intolerant opaque robots. We present six witness problems that prove the majority of the computational relations between the 12 models. In particular, the last witness problem depicts a peculiar issue occurring in the case of obstructed visibility and asynchrony.

翻译：在机器人集群分布式计算领域，研究涵盖多种模型，其中机器人在欧几里得平面上通过"观察-计算-移动"循环序列运行。所研究的模型在以下方面存在差异：(i) 存储常数大小信息的可能性；(ii) 通信常数大小信息的可能性；(iii) 同步模式。通过变化特征(i,ii)，我们得到四种基础模型：OBLOT（静默且无状态机器人）、FSTA（静默且有穷状态机器人）、FCOM（无状态且有穷通信机器人）以及LUMI（有穷状态且有穷通信机器人）。将每种基础模型与三种主要同步模式（全同步、半同步和异步）结合，我们得到著名的12种模型。大量研究已探索其计算能力，证明了不同模型之间的层次关系。然而，此前仅考虑了透明机器人。在本工作中，我们研究考虑碰撞不容忍不透明机器人的这12种模型的分类体系。我们提出六个见证问题，证明了12种模型间大部分计算关系。其中，最后一个见证问题揭示了在视线受阻与异步情况下出现的特有难题。