Distributed Anonymous Mobile Robots: Formation of Geometric Patterns
SIAM Journal on Computing
Gathering of asynchronous robots with limited visibility
Theoretical Computer Science
Gathering asynchronous oblivious mobile robots in a ring
Theoretical Computer Science
Randomized Gathering of Mobile Robots with Local-Multiplicity Detection
SSS '09 Proceedings of the 11th International Symposium on Stabilization, Safety, and Security of Distributed Systems
Self-stabilizing Deterministic Gathering
Algorithmic Aspects of Wireless Sensor Networks
Computing without communicating: ring exploration by asynchronous oblivious robots
OPODIS'07 Proceedings of the 11th international conference on Principles of distributed systems
The cost of probabilistic agreement in oblivious robot networks
Information Processing Letters
Taking advantage of symmetries: Gathering of many asynchronous oblivious robots on a ring
Theoretical Computer Science
Uniform multi-agent deployment on a ring
Theoretical Computer Science
SIROCCO'11 Proceedings of the 18th international conference on Structural information and communication complexity
Mobile robots gathering algorithm with local weak multiplicity in rings
SIROCCO'10 Proceedings of the 17th international conference on Structural Information and Communication Complexity
Optimal deterministic ring exploration with oblivious asynchronous robots
SIROCCO'10 Proceedings of the 17th international conference on Structural Information and Communication Complexity
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We investigate self-stabilizing algorithms for anonymous and oblivious robots in uniform ring networks, that is, we focus on algorithms that can start from any initial configuration (including those with multiplicity points). First, we show that there exists no probabilistic self-stabilizing gathering algorithm in the non-atomic CORDA model or if only global-weak and local-strong multiplicity detection is available. This impossibility result implies that a common assumption about initial configurations (no two robots share an node initially) is a very strong one. On the positive side, we give a probabilistic self-stabilizing algorithm for the gathering and orientation problems in the atomic ATOM model with global-strong multiplicity detection. With respect to impossibility results, those are the weakest system hypotheses. In addition, as an application of the previous algorithm, we provide a self-stabilizing algorithm for the set formation problem. Our results imply that any static set formation can be realized in a self-stabilizing manner in this model.