Mutual Visibility for Asynchronous Robots
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This paper presents a study of the mutual visibility problem for a set of opaque asynchronous robots in the Euclidean plane. Due to opacity, if three robots lie on a line, the middle robot obstructs the visions of the two other robots. The mutual visibility problem requires the robots to coordinate their movements to form a configuration in which no three robots are collinear. This work presents a distributed algorithm which solves the mutual visibility problem for a set of \(n\ge 2\) asynchronous robots under the FState computational model. The proposed algorithm assumes 1 bit of persistent memory and the knowledge of n. The proposed solution works under the non-rigid movements of the robots and also provides collision free movements for the robots.
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