Distributed Anonymous Mobile Robots: Formation of Geometric Patterns
SIAM Journal on Computing
Plane elementary bipartite graphs
Discrete Applied Mathematics
Gathering of asynchronous robots with limited visibility
Theoretical Computer Science
Fault-Tolerant Gathering Algorithms for Autonomous Mobile Robots
SIAM Journal on Computing
Convergence of Autonomous Mobile Robots with Inaccurate Sensors and Movements
SIAM Journal on Computing
Using eventually consistent compasses to gather memory-less mobile robots with limited visibility
ACM Transactions on Autonomous and Adaptive Systems (TAAS)
Byzantine-Resilient Convergence in Oblivious Robot Networks
ICDCN '09 Proceedings of the 10th International Conference on Distributed Computing and Networking
Optimal Byzantine Resilient Convergence in Asynchronous Robots Networks
SSS '09 Proceedings of the 11th International Symposium on Stabilization, Safety, and Security of Distributed Systems
Dynamic compass models and gathering algorithms for autonomous mobile robots
SIROCCO'07 Proceedings of the 14th international conference on Structural information and communication complexity
Characterizing geometric patterns formable by oblivious anonymous mobile robots
Theoretical Computer Science
Leader election problem versus pattern formation problem
DISC'10 Proceedings of the 24th international conference on Distributed computing
Convergence of mobile robots with uniformly-inaccurate sensors
SIROCCO'09 Proceedings of the 16th 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
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A (new) geometric pattern formation problem by a set of oblivious, anonymous, asynchronous (i.e., CORDA) robots is investigated in this paper. The conventional pattern formation problem assumes that the target pattern is given as a set of the positions by their coordinates in the global coordinate system, under the assumption that the robots are not aware of it. In the pattern formation problem we discuss in this paper, the points comprising the pattern are assumed to be "visible" to all robots, like landmarks. However, the robots still cannot obtain their positions in the global coordinate system. This paper shows that this pattern formation problem is solvable by oblivious asynchronous robots through the optimum matching between the robots and the pattern's points. Our study is partly motivated by the state-of-arts of the conventional pattern formation problem by oblivious asynchronous robots; description and correctness proof of a formation algorithm is usually complicated and ambiguous, because of the oblivious and asynchronous natures of the robots. A modular method is thus looked for to describe and prove algorithm in a clearer and more concrete way. Our pattern formation problem and the formation algorithm based on the optimum matching are used as a primitive building block in the modular method.