Asynchronous pattern formation by anonymous oblivious mobile robots

Nao Fujinaga, Yukiko Yamauchi, Shuji Kijima, Masafumi Yamashita

Research output: Chapter in Book/Report/Conference proceedingConference contribution

30 Citations (Scopus)


We present an oblivious pattern formation algorithm for anonymous mobile robots in the asynchronous model. The robots obeying the algorithm, starting from any initial configuration I, always form a given pattern F, if I and F do not contain multiplicities and ρ(I) divides ρ(F), where ρ(·) denotes the geometric symmetricity. Our algorithm substantially outdoes an algorithm by Dieudonné et al. proposed in DISC 2010, which is dedicated to ρ(I) = 1. Our algorithm is best possible (as long as I and F do not contain multiplicities), since there is no algorithm that always forms F from I when ρ(F) is not divisible by ρ(I). All known pattern formation algorithms are constructed from scratch. We instead use a bipartite matching algorithm (between the robots and the points in F) we proposed in OPODIS 2011 as a core subroutine, to make the description of algorithm concise and easy to understand.

Original languageEnglish
Title of host publicationDistributed Computing - 26th International Symposium, DISC 2012, Proceedings
Number of pages14
Publication statusPublished - 2012
Event26th International Symposium on Distributed Computing, DISC 2012 - Salvador, Brazil
Duration: Oct 16 2012Oct 18 2012

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume7611 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Other26th International Symposium on Distributed Computing, DISC 2012

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • General Computer Science


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