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
ISAAC '99 Proceedings of the 10th International Symposium on Algorithms and Computation
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]
Local spreading algorithms for autonomous robot systems
Theoretical 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)
Deterministic leader election in anonymous sensor networks without common coordinated system
OPODIS'07 Proceedings of the 11th international conference on Principles of distributed systems
Stabilizing flocking via leader election in robot networks
SSS'07 Proceedings of the 9h international conference on Stabilization, safety, and security of distributed systems
Characterizing geometric patterns formable by oblivious anonymous mobile robots
Theoretical Computer Science
Biangular circle formation by asynchronous mobile robots
SIROCCO'05 Proceedings of the 12th international conference on Structural Information and Communication Complexity
Pattern formation through optimum matching by oblivious CORDA robots
OPODIS'10 Proceedings of the 14th international conference on Principles of distributed systems
Getting close without touching
SIROCCO'12 Proceedings of the 19th international conference on Structural Information and Communication Complexity
Asynchronous pattern formation by anonymous oblivious mobile robots
DISC'12 Proceedings of the 26th international conference on Distributed Computing
Deterministic geoleader election in disoriented anonymous systems
Theoretical Computer Science
Hi-index | 0.00 |
Leader election and arbitrary pattern formation are fundamental tasks for a set of autonomous mobile robots. The former consists in distinguishing a unique robot, called the leader. The latter aims in arranging the robots in the plane to form any given pattern. The solvability of both these tasks turns out to be necessary in order to achieve more complex tasks. In this paper, we study the relationship between these two tasks in a model, called CORDA, wherein the robots are weak in several aspects. In particular, they are fully asynchronous and they have no direct means of communication. They cannot remember any previous observation nor computation performed in any previous step. Such robots are said to be oblivious. The robots are also uniform and anonymous, i.e, they all have the same program using no global parameter (such as an identity) allowing to differentiate any of them. Moreover, none of them share any kind of common coordinate mechanism or common sense of direction, except that they agree on a common handedness (chirality). In such a system, Flochini et al. proved in [9] that it is possible to elect a leader for n ≥ 3 robots if it is possible to form any pattern for n ≥ 3. In this paper, we show that the converse is true for n ≥ 4 and thus, we deduce that both problems are equivalent for n ≥ 4 in CORDA provided the robots share the same chirality.