Pattern Formation for Asynchronous Robots without Agreement in Chirality
作者： Krishnendu Mukhopadhyaya , Sruti Gan Chaudhuri , Shrainik Jain , Swapnil Ghike
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摘要: AbstractThis paper presents a deterministic algorithm for forming given asymmetricpattern in nite time by set of autonomous, homogeneous, oblivious mobilerobots under the CORDA model. The robots are represented as points on the2D plane. There is no explicit communication between robots. robotscoordinate among themselves observing positions other onthe Initially all assumed to be stationary. robotshave local coordinate systems de ned Sense Direction (SoD), orientationor chirality and scale. asymmetric con guration. Weshow that these can form any pattern time.Keywords: Asynchronous, oblivious, mobile robots, formation,chirality.1. IntroductionExecuting collaborative task small, robots(also known robot swarm [18]) has been popular topic researchfor last few decades. anonymous, homogeneous,oblivious asynchronous. together perform complex job, e.g.,moving big body [16], cleaning surface [13] etc. individual unit orrobot system less expensive than robot. Increasingor decreasing number this involves very simple hardwareor software modi cations thus provides good scalability. Moreover, havingsimilar capability, if some fail, others manage execute work.This feature makes more resilient malfunction. In hostileenvironments, easily deployable various complextasks cooperatively.
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