Distributed Anonymous Mobile Robots: Formation of Geometric Patterns
SIAM Journal on Computing
Self-stabilization
Flocking by a Set of Autonomous Mobile Robots
Flocking by a Set of Autonomous Mobile Robots
Fault-tolerant gathering algorithms for autonomous mobile robots
SODA '04 Proceedings of the fifteenth annual ACM-SIAM symposium on Discrete algorithms
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
Systems and Computers in Japan
Circle formation of weak robots and Lyndon words
Information Processing Letters
Self-stabilizing leader election in networks of finite-state anonymous agents
OPODIS'06 Proceedings of the 10th international conference on Principles of Distributed Systems
Convergence of autonomous mobile robots with inaccurate sensors and movements
STACS'06 Proceedings of the 23rd Annual conference on Theoretical Aspects of Computer Science
Fault-tolerant and self-stabilizing mobile robots gathering
DISC'06 Proceedings of the 20th international conference on Distributed Computing
Self-stabilizing population protocols
OPODIS'05 Proceedings of the 9th international conference on Principles of Distributed Systems
An Approach to Flocking of Robots Using Minimal Local Sensing and Common Orientation
HAIS '08 Proceedings of the 3rd international workshop on Hybrid Artificial Intelligence Systems
A Self-stabilizing Marching Algorithm for a Group of Oblivious Robots
OPODIS '08 Proceedings of the 12th International Conference on Principles of Distributed Systems
Fault-Tolerant Flocking in a k-Bounded Asynchronous System
OPODIS '08 Proceedings of the 12th International Conference on Principles of Distributed Systems
Oracle-Based Flocking of Mobile Robots in Crash-Recovery Model
SSS '09 Proceedings of the 11th International Symposium on Stabilization, Safety, and Security of Distributed Systems
CCNC'09 Proceedings of the 6th IEEE Conference on Consumer Communications and Networking Conference
Leader election problem versus pattern formation problem
DISC'10 Proceedings of the 24th international conference on Distributed computing
Fault-tolerant flocking for a group of autonomous mobile robots
Journal of Systems and Software
Deterministic geoleader election in disoriented anonymous systems
Theoretical Computer Science
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Flocking is the ability of a group of robots to follow a leader or head whenever it moves in a plane (two dimensional Cartesian space). In this paper we propose and prove correct an architecture for a selforganizing and stabilizing flocking system. Contrary to the existing work on this topic our flocking architecture does not rely on the existence of a specific leader a priori known to every robot in the network. In our approach robots are uniform, start in an arbitrary configuration and the head of the group is elected via algorithmic tools. Our contribution is threefold. First, we propose novel probabilistic solutions for leader election in asynchronous settings under bounded schedulers. Additionally, we prove the impossibility of deterministic leader election when robots have no common coordinates and start in an arbitrary configuration. Secondly, we propose a collision free deterministic algorithm for circle formation designed for asynchronous networks. Thirdly, we propose a deterministic flocking algorithm totally independent of the existence of an a priori known leader. The proposed algorithm also works in asynchronous networks.