Distributed Anonymous Mobile Robots: Formation of Geometric Patterns
SIAM Journal on Computing
Self-stabilization
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SSS'07 Proceedings of the 9h international conference on Stabilization, safety, and security of distributed systems
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ICCPS '12 Proceedings of the 2012 IEEE/ACM Third International Conference on Cyber-Physical Systems
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Proceedings of the Fifth International C* Conference on Computer Science and Software Engineering
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We describe how a set of mobile robots can arrange themselves on any specified curve on the plane in the presence of dynamic changes both in the underlying ad hoc network and in the set of participating robots. Our strategy is for the mobile robots to implement a self-stabilizing virtual layer consisting of mobile client nodes, stationary Virtual Nodes (VNs), and local broadcast communication. The VNs are associated with predetermined regions in the plane and coordinate among themselves to distribute the client nodes relatively uniformly among the VNs' regions. Each VN directs its local client nodes to align themselves on the local portion of the target curve. The resulting motion coordination protocol is self-stabilizing, in that each robot can begin the execution in any arbitrary state and at any arbitrary location in the plane. In addition, self-stabilization ensures that the robots can adapt to changes in the desired target formation.