Abstract
The Arbitrary Pattern Formation problem asks to design a distributed algorithm that allows a set of autonomous mobile robots to form any specific but arbitrary geometric pattern given as input. The problem has been extensively studied in literature in continuous domains. This paper investigates a discrete version of the problem where the robots are operating on a two dimensional infinite grid. The robots are assumed to be autonomous, identical, anonymous and oblivious. They operate in Look-Compute-Move cycles under a fully asynchronous scheduler. The robots do not agree on any common global coordinate system or chirality. We have shown that a set of robots can form any arbitrary pattern, if their starting configuration is asymmetric.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Notes
- 1.
Since we have assumed that the robots are initially positioned on distinct grid points and our algorithm guarantees collisionless movements, f(v) is always either 0 or 1.
- 2.
In the \(m=1\) case, we already have a reflectional symmetry with respect to \(\overleftrightarrow {AB}\). But this is a trivial symmetry, and is to be ignored by our definition of asymmetric configurations.
References
Adhikary, R., Bose, K., Kundu, M.K., Sau, B.: Mutual visibility by asynchronous robots on infinite grid. In: 14th International Symposium on Algorithms and Experiments for Wireless Networks (ALGOSENSORS 2018), Helsinki, Finland, 23–24 August 2018 (Forthcoming)
Bose, K., Adhikary, R., Kundu, M.K., Sau, B.: Arbitrary pattern formation on infinite grid by asynchronous oblivious robots. CoRR abs/1811.00834 (2018). http://arxiv.org/abs/1811.00834
Bramas, Q., Tixeuil, S.: Brief announcement: probabilistic asynchronous arbitrary pattern formation. In: Proceedings of the 2016 ACM Symposium on Principles of Distributed Computing, PODC 2016, Chicago, IL, USA, pp. 443–445, 25–28 July 2016. https://doi.org/10.1145/2933057.2933074
Cicerone, S., Di Stefano, G., Navarra, A.: Asynchronous arbitrary pattern formation: the effects of a rigorous approach. Distrib. Comput., 1–42 (2018) https://doi.org/10.1007/s00446-018-0325-7
Cicerone, S., Di Stefano, G., Navarra, A.: Embedded pattern formation by asynchronous robots without chirality. Distrib. Comput., 1–25 (2018). https://doi.org/10.1007/s00446-018-0333-7
Das, S., Flocchini, P., Santoro, N., Yamashita, M.: Forming sequences of geometric patterns with oblivious mobile robots. Distrib. Comput. 28(2), 131–145 (2015). https://doi.org/10.1007/s00446-014-0220-9
Dieudonné, Y., Petit, F., Villain, V.: Leader election problem versus pattern formation problem. CoRR abs/0902.2851 (2009). http://arxiv.org/abs/0902.2851
Dieudonné, Y., Petit, F., Villain, V.: Leader election problem versus pattern formation problem. In: Lynch, N.A., Shvartsman, A.A. (eds.) DISC 2010. LNCS, vol. 6343, pp. 267–281. Springer, Heidelberg (2010). https://doi.org/10.1007/978-3-642-15763-9_26
Flocchini, P., Prencipe, G., Santoro, N., Widmayer, P.: Arbitrary pattern formation by asynchronous, anonymous, oblivious robots. Theor. Comput. Sci. 407(1–3), 412–447 (2008). https://doi.org/10.1016/j.tcs.2008.07.026
Fujinaga, N., Yamauchi, Y., Ono, H., Kijima, S., Yamashita, M.: Pattern formation by oblivious asynchronous mobile robots. SIAM J. Comput. 44(3), 740–785 (2015). https://doi.org/10.1137/140958682
Lukovszki, T., Meyer auf der Heide, F.: Fast collisionless pattern formation by anonymous, position-aware robots. In: Aguilera, M.K., Querzoni, L., Shapiro, M. (eds.) OPODIS 2014. LNCS, vol. 8878, pp. 248–262. Springer, Cham (2014). https://doi.org/10.1007/978-3-319-14472-6_17
Stefano, G.D., Navarra, A.: Gathering of oblivious robots on infinite grids with minimum traveled distance. Inf. Comput. 254, 377–391 (2017). https://doi.org/10.1016/j.ic.2016.09.004
Suzuki, I., Yamashita, M.: Distributed anonymous mobile robots. In: SIROCCO 1996, The 3rd International Colloquium on Structural Information & Communication Complexity, Siena, Italy, pp. 313–330, 6–8 June 1996
Suzuki, I., Yamashita, M.: Distributed anonymous mobile robots: formation of geometric patterns. SIAM J. Comput. 28(4), 1347–1363 (1999). https://doi.org/10.1137/S009753979628292X
Yamauchi, Y., Yamashita, M.: Pattern formation by mobile robots with limited visibility. In: Moscibroda, T., Rescigno, A.A. (eds.) SIROCCO 2013. LNCS, vol. 8179, pp. 201–212. Springer, Cham (2013). https://doi.org/10.1007/978-3-319-03578-9_17
Yamauchi, Y., Yamashita, M.: Randomized pattern formation algorithm for asynchronous oblivious mobile robots. In: Kuhn, F. (ed.) DISC 2014. LNCS, vol. 8784, pp. 137–151. Springer, Heidelberg (2014). https://doi.org/10.1007/978-3-662-45174-8_10
Acknowledgements
The first three authors are supported by NBHM, DAE, Govt. of India, CSIR, Govt. of India and UGC, Govt. of India respectively. We would like to thank the anonymous reviewers for their valuable comments which helped us improve the quality and presentation of this paper.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Bose, K., Adhikary, R., Kundu, M.K., Sau, B. (2019). Arbitrary Pattern Formation on Infinite Grid by Asynchronous Oblivious Robots. In: Das, G., Mandal, P., Mukhopadhyaya, K., Nakano, Si. (eds) WALCOM: Algorithms and Computation. WALCOM 2019. Lecture Notes in Computer Science(), vol 11355. Springer, Cham. https://doi.org/10.1007/978-3-030-10564-8_28
Download citation
DOI: https://doi.org/10.1007/978-3-030-10564-8_28
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-10563-1
Online ISBN: 978-3-030-10564-8
eBook Packages: Computer ScienceComputer Science (R0)