Summary form only given. During the past decade, systems of autonomous mobile robots have been gathering attention as distributed systems that are expected effective for activity in deep sea or outer space, where robots have to act autonomously. The system consisting of a large number of simple robots is expected to be effective to work with fault-tolerance. Hence minimal setting for robots which cope with this kind of difficult environment is worth studying from the practical and also theoretical points of view. In particular, increasing more research has been focusing on the coordination and self-organization of autonomous mobile robot systems in involving multiple simple robots working together, rather than a single high-complex one. This view is motivated by a variety of reasons, including reduced manufacturing costs, increased fault resilience, improved overall maneuverability or simply better polyvalence of the system. This tutorial focuses on the theoretical aspects of systems of autonomous mobile robots. The talks in the tutorial include introduction of theoretical models of autonomous mobile robots originated by Profs. Ichiro Suzuki and Masafumi Yamashita (called SYm) and Prof. Giuseppe Prencipe (called CORDA) and their variant models dealing with some practical issues such as fault tolerance and inaccuracy of robots sensors and recent results obtained in the models and algorithms for solving geometric problems and/or graph theoretic problems. This tutorial also aims to make the theoretical model of autonomous mobile robots more rigid in the sense that researchers in this field have consensus about the model.
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