A pattern formation algorithm for autonomous distributed robots with agreement on one axis orientation

摘要

We consider the pattern formation problem by autonomous distributed robots. The pattern formation problem is a problem to make the robots form a given specific geometric pattern from arbitrarily initial position. In our model robots are totally asynchronous in their actions. They iterate cycles of wait, sense, compute, and move. They are oblivious, and anonymous, and execute an identical algorithm in their computing. In [6], a pattern formation algorithm, for robots, which agree on one axis, orientation is shown under an assumption on observation restriction. In this paper, we show that we can solve the pattern formation problem on the same model without the assumption of restricted observation.