Randomized pattern formation algorithm for asynchronous oblivious mobile robots

Yukiko Yamauchi, Masafumi Yamashita

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

27 Citations (Scopus)


We present a randomized pattern formation algorithm for asynchronous oblivious (i.e., memory-less) mobile robots that enables formation of any target pattern. As for deterministic pattern formation algorithms, the class of patterns formable from an initial configuration I is characterized by the symmetricity (i.e., the order of rotational symmetry) of I, and in particular, every pattern is formable from I if its symmetricity is 1. The randomized pattern formation algorithm ψPF we present in this paper consists of two phases: The first phase transforms a given initial configuration I into a configuration I′ such that its symmetricity is 1, and the second phase invokes a deterministic pattern formation algorithm ψCWM by Fujinaga et al. (DISC 2012) for asynchronous oblivious mobile robots to finally form the target pattern.

There are two hurdles to overcome to realize ψPF . First, all robots must simultaneously stop and agree on the end of the first phase, to safely start the second phase, since the correctness of ψCWM is guaranteed only for an initial configuration in which all robots are stationary. Second, the sets of configurations in the two phases must be disjoint, so that even oblivious robots can recognize which phase they are working on. We provide a set of tricks to overcome these hurdles.

Original languageEnglish
Title of host publicationDistributed Computing - 28th International Symposium, DISC 2014, Proceedings
EditorsFabian Kuhn
PublisherSpringer Verlag
Number of pages15
ISBN (Electronic)9783662451731
Publication statusPublished - 2014
Event28th International Symposium on Distributed Computing, DISC 2014 - Austin, United States
Duration: Oct 12 2014Oct 15 2014

Publication series

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


Other28th International Symposium on Distributed Computing, DISC 2014
Country/TerritoryUnited States

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • Computer Science(all)


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