Mutual Visibility for Asynchronous Robots

  • Subhash Bhagat
  • Sruti Gan Chaudhuri
  • Krishnendu MukhopadhyayaEmail author
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11639)


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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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Subhash Bhagat
    • 1
  • Sruti Gan Chaudhuri
    • 2
  • Krishnendu Mukhopadhyaya
    • 3
    Email author
  1. 1.University of OttawaOttawaCanada
  2. 2.Jadavpur UniversityKolkataIndia
  3. 3.Indian Statistical InstituteKolkataIndia

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