Affiliation:
1. MIS Laboratory, Université de Picardie Jules Verne, Amiens, France
Abstract
We consider distributed systems made of
weak mobile
robots, that is, mobile devices, equipped with sensors, that are
anonymous
,
autonomous
,
disoriented
, and
oblivious
. The
Circle Formation Problem
(CFP) consists of the design of a protocol insuring that, starting from an initial arbitrary configuration where no two robots are at the same position, all the robots eventually form a
regular n-gon
—the robots take place on the circumference of a circle
C
with equal spacing between any two adjacent robots on
C
.
CFP is known to be unsolvable by arranging the robots evenly along the circumference of a circle
C
without leaving
C
—that is, starting from a configuration where the robots are on the boundary of
C
. We circumvent this impossibility result by designing a scheme based on
concentric circles
. This is the first scheme that deterministically solves CFP. We present our method with two different implementations working in the semi-synchronous system (SSM) for any number
n
≥ 5 of robots.
Publisher
Association for Computing Machinery (ACM)
Subject
Software,Computer Science (miscellaneous),Control and Systems Engineering
Cited by
38 articles.
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