Complete Visibility for Oblivious Robots in \(\mathcal{O}(N)\) Time

  • Gokarna SharmaEmail author
  • Costas Busch
  • Supratik Mukhopadhyay
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11028)


We consider the distributed setting of N autonomous mobile robots that operate in Look-Compute-Move cycles following the classic oblivious robots model. We study the fundamental problem where starting from an arbitrary initial configuration, N autonomous robots reposition themselves to a convex hull formation on the plane where each robot is visible to all others (the Complete Visibility problem). We assume obstructed visibility, where a robot cannot see another robot if a third robot is positioned between them on the straight line connecting them. We provide the first \(\mathcal{O}(N)\) time algorithm for this problem in the fully synchronous setting. Our contribution is a significant improvement over the runtime of the only previously known algorithm for this problem which has a lower bound of \(\varOmega (N^2)\) in the fully synchronous setting. The proposed algorithm is collision-free – robots do not share positions and their paths do not cross.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Gokarna Sharma
    • 1
    Email author
  • Costas Busch
    • 2
  • Supratik Mukhopadhyay
    • 2
  1. 1.Department of Computer ScienceKent State UniversityKentUSA
  2. 2.School of Electrical Engineering and Computer ScienceLouisiana State UniversityBaton RougeUSA

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