Circle formation of weak mobile robots

Authors:
Yoann Dieudonné;Ouiddad Labbani-Igbida;Franck Petit
Affiliations:
LaRIA, CNRS, University of Picardie Jules Verne, Amiens, France;CREA, University of Picardie Jules Verne, Amiens, France;LaRIA, CNRS, University of Picardie Jules Verne, Amiens, France
Venue:
SSS'06 Proceedings of the 8th international conference on Stabilization, safety, and security of distributed systems
Year:
2006

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Abstract

The Circle Formation Problem (CFP) consists in the design of a protocol insuring that starting from an initial arbitrary configuration, n robots eventually form a regular n-gon. In this paper, we present the first protocol which deterministically solves CFP in finite time for any number of robots, provided that n ∉ {4, 6, 8}. The proposed protocol works in the semi-synchronous model introduced in [1]. The robots are assumed to be uniform, anonymous, oblivious, and they share no kind of coordinate system nor common sense of direction.