Distributed Anonymous Mobile Robots: Formation of Geometric Patterns
SIAM Journal on Computing
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
Agreement on a Common X - Y Coordinate System by a Group of Mobile Robots
Intelligent Robots: Sensing, Modeling and Planning [Dagstuhl Workshop, September 1-6, 1996]
Circle formation of weak robots and Lyndon words
Information Processing Letters
Theoretical Computer Science
Circle formation of weak mobile robots
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
Deterministic leader election in anonymous sensor networks without common coordinated system
OPODIS'07 Proceedings of the 11th international conference on Principles of distributed systems
Biangular circle formation by asynchronous 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
Deaf, Dumb, and Chatting Asynchronous Robots
OPODIS '09 Proceedings of the 13th International Conference on Principles of Distributed Systems
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
Brief announcement: leader election vs pattern formation
Proceedings of the 29th ACM SIGACT-SIGOPS symposium on Principles of distributed computing
Multi-agent deployment on a ring graph
ANTS'10 Proceedings of the 7th international conference on Swarm intelligence
Leader election problem versus pattern formation problem
DISC'10 Proceedings of the 24th international conference on Distributed computing
Uniform multi-agent deployment on a ring
Theoretical Computer Science
Optimal exploration of small rings
Proceedings of the Third International Workshop on Reliability, Availability, and Security
Optimal probabilistic ring exploration by semi-synchronous oblivious robots
SIROCCO'09 Proceedings of the 16th international conference on Structural Information and Communication Complexity
Optimal deterministic ring exploration with oblivious asynchronous robots
SIROCCO'10 Proceedings of the 17th international conference on Structural Information and Communication Complexity
Getting close without touching
SIROCCO'12 Proceedings of the 19th international conference on Structural Information and Communication Complexity
Optimal grid exploration by asynchronous oblivious robots
SSS'12 Proceedings of the 14th international conference on Stabilization, Safety, and Security of Distributed Systems
Optimal probabilistic ring exploration by semi-synchronous oblivious robots
Theoretical Computer Science
Deterministic geoleader election in disoriented anonymous systems
Theoretical Computer Science
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We consider distributed systems made of weak mobile robots, that is, mobile devices, equipped with sensors, that are anonymous, autonomous, disoriented, and oblivious. The Circle Formation Problem (CFP) consists of the design of a protocol insuring that, starting from an initial arbitrary configuration where no two robots are at the same position, all the robots eventually form a regular n-gon—the robots take place on the circumference of a circle C with equal spacing between any two adjacent robots on C. CFP is known to be unsolvable by arranging the robots evenly along the circumference of a circle C without leaving C—that is, starting from a configuration where the robots are on the boundary of C. We circumvent this impossibility result by designing a scheme based on concentric circles. This is the first scheme that deterministically solves CFP. We present our method with two different implementations working in the semi-synchronous system (SSM) for any number n ≥ 5 of robots.