Distributed Anonymous Mobile Robots: Formation of Geometric Patterns
SIAM Journal on Computing
Convergence Properties of the Gravitational Algorithm in Asynchronous Robot Systems
SIAM Journal on Computing
Gathering of asynchronous robots with limited visibility
Theoretical Computer Science
Fault-Tolerant Gathering Algorithms for Autonomous Mobile Robots
SIAM Journal on Computing
The Multi-Agent Rendezvous Problem. Part 2: The Asynchronous Case
SIAM Journal on Control and Optimization
Theoretical Computer Science
Local spreading algorithms for autonomous robot systems
Theoretical Computer Science
Self-deployment of mobile sensors on a ring
Theoretical Computer Science
Distributed Models and Algorithms for Mobile Robot Systems
SOFSEM '07 Proceedings of the 33rd conference on Current Trends in Theory and Practice of Computer Science
Arbitrary pattern formation by asynchronous, anonymous, oblivious robots
Theoretical Computer Science
Circle formation of weak mobile robots
ACM Transactions on Autonomous and Adaptive Systems (TAAS)
Using eventually consistent compasses to gather memory-less mobile robots with limited visibility
ACM Transactions on Autonomous and Adaptive Systems (TAAS)
Gathering few fat mobile robots in the plane
Theoretical Computer Science
Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms
Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms
Solving the robots gathering problem
ICALP'03 Proceedings of the 30th international conference on Automata, languages and programming
Characterizing geometric patterns formable by oblivious anonymous mobile robots
Theoretical Computer Science
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DISC'06 Proceedings of the 20th international conference on Distributed Computing
Robot networks with homonyms: the case of patterns formation
SSS'11 Proceedings of the 13th international conference on Stabilization, safety, and security of distributed systems
Decidability classes for mobile agents computing
LATIN'12 Proceedings of the 10th Latin American international conference on Theoretical Informatics
Collaborative search on the plane without communication
PODC '12 Proceedings of the 2012 ACM symposium on Principles of distributed computing
The kissing problem: how to end a gathering when everyone kisses everyone else goodbye
FUN'12 Proceedings of the 6th international conference on Fun with Algorithms
Optimal grid exploration by asynchronous oblivious robots
SSS'12 Proceedings of the 14th international conference on Stabilization, Safety, and Security of Distributed Systems
Collecting information by power-aware mobile agents
DISC'12 Proceedings of the 26th international conference on Distributed Computing
Position discovery for a system of bouncing robots
DISC'12 Proceedings of the 26th international conference on Distributed Computing
Localization for a system of colliding robots
ICALP'13 Proceedings of the 40th international conference on Automata, Languages, and Programming - Volume Part II
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We study the computational power of a distributed system consisting of simple autonomous robots moving on the plane. The robots are endowed with visual perception but do not have any means of explicit communication with each other, and have no memory of the past. In the extensive literature it has been shown how such simple robots can form a single geometric pattern (e.g., a line, a circle, etc), however arbitrary, in spite of their obliviousness. This brings to the front the natural research question: what are the real computational limits imposed by the robots being oblivious? In particular, since obliviousness limits what can be remembered, under what conditions can oblivious robots form a series of geometric patterns? Notice that a series of patterns would create some form of memory in an otherwise memory-less system. In this paper we examine and answer this question showing that, under particular conditions, oblivious robot systems can indeed form series of geometric patterns starting from any arbitrary configuration. More precisely, we study the series of patterns that can be formed by robot systems under various restrictions such as anonymity, asynchrony and lack of common orientation. These results are the first strong indication that oblivious solutions may be obtained also for tasks that intuitively seem to require memory.