Voronoi diagrams—a survey of a fundamental geometric data structure
ACM Computing Surveys (CSUR)
ACM Computing Surveys (CSUR)
Computational geometry: algorithms and applications
Computational geometry: algorithms and applications
Distributed Anonymous Mobile Robots: Formation of Geometric Patterns
SIAM Journal on Computing
Swarm intelligence: from natural to artificial systems
Swarm intelligence: from natural to artificial systems
Circle formation for oblivious anonymous mobile robots with no common sense of orientation
Proceedings of the second ACM international workshop on Principles of mobile computing
Cooperative Mobile Robotics: Antecedents and Directions
Autonomous Robots
ICTCS '01 Proceedings of the 7th Italian Conference on Theoretical Computer Science
Coordination without communication: the case of the flocking problem
Discrete Applied Mathematics - Fun with algorithms 2 (FUN 2001)
Gathering of asynchronous robots with limited visibility
Theoretical Computer Science
Fault-Tolerant Gathering Algorithms for Autonomous Mobile Robots
SIAM Journal on Computing
Circle formation of weak robots and Lyndon words
Information Processing Letters
Circle formation of weak mobile robots
SSS'06 Proceedings of the 8th international conference on Stabilization, safety, and security of distributed systems
Using eventually consistent compasses to gather oblivious mobile robots with limited visibility
SSS'06 Proceedings of the 8th international conference on Stabilization, safety, and security of distributed systems
Swing words to make circle formation quiescent
SIROCCO'07 Proceedings of the 14th international conference on Structural information and communication complexity
Distributed coordination algorithms for mobile robot swarms: new directions and challenges
IWDC'05 Proceedings of the 7th international conference on Distributed Computing
Biangular circle formation by asynchronous mobile robots
SIROCCO'05 Proceedings of the 12th international conference on Structural Information and Communication Complexity
On the feasibility of gathering by autonomous mobile robots
SIROCCO'05 Proceedings of the 12th international conference on Structural Information and Communication Complexity
Self-deployment algorithms for mobile sensors on a ring
ALGOSENSORS'06 Proceedings of the Second international conference on Algorithmic Aspects of Wireless Sensor Networks
Circle formation of weak mobile robots
ACM Transactions on Autonomous and Adaptive Systems (TAAS)
Self-stabilizing robot formations over unreliable networks
ACM Transactions on Autonomous and Adaptive Systems (TAAS)
On the computational power of oblivious robots: forming a series of geometric patterns
Proceedings of the 29th ACM SIGACT-SIGOPS symposium on Principles of distributed computing
New algorithms for barrier coverage with mobile sensors
FAW'10 Proceedings of the 4th international conference on Frontiers in algorithmics
Multi-agent deployment on a ring graph
ANTS'10 Proceedings of the 7th international conference on Swarm intelligence
Uniform multi-agent deployment on a ring
Theoretical Computer Science
Network exploration by silent and oblivious robots
WG'10 Proceedings of the 36th international conference on Graph-theoretic concepts in computer science
How many oblivious robots can explore a line
Information Processing Letters
Circle formation by asynchronous fat robots with limited visibility
ICDCIT'12 Proceedings of the 8th international conference on Distributed Computing and Internet Technology
Getting close without touching
SIROCCO'12 Proceedings of the 19th international conference on Structural Information and Communication Complexity
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This paper presents a distributed algorithm whereby a group of mobile robots self-organize and position themselves into forming a circle in a loosely synchronized environment. In spite of its apparent simplicity, the difficulty of the problem comes from the weak assumptions made on the system. In particular, robots are anonymous, oblivious (i.e., stateless), unable to communicate directly, and disoriented in the sense that they share no knowledge of a common coordinate system. Furthermore, robots' activations are not synchronized. More specifically, the proposed algorithm ensures that robots deterministically form a non-uniform circle in a finite number of steps and converges to a situation in which all robots are located evenly on the boundary of the circle.