Abstract
Consider a community of simple autonomous robots freely moving in the plane. The robots are decentralized, asynchronous, deterministic without the common coordination system, identities, direct communication, memory of the past, but with the ability to sense the positions of the other robots. We study the problem of forming an absolutely symmetric formation – regular circle. Unlike the existing algorithms for similar problems that have supposed a stronger model and guaranteed only convergence to a final formation, we are interested in solving the problem for fully asynchronous model. Unfortunately, the problem in general is very hard under these circumstances and seems to be unsolvable. We present an algorithm that solves an intermediate problem, the biangular circle formation, deterministically in finite time.
Supported in part by APVT 20-018902.
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Katreniak, B. (2005). Biangular Circle Formation by Asynchronous Mobile Robots. In: Pelc, A., Raynal, M. (eds) Structural Information and Communication Complexity. SIROCCO 2005. Lecture Notes in Computer Science, vol 3499. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11429647_16
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DOI: https://doi.org/10.1007/11429647_16
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-26052-3
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