Abstract
In this paper, we first introduce the swing words. Based on intrinsic properties of these words, we present a new approach to solve the Circle Formation Problem in the semi-synchronous model (SSM)—no two robots are supposed to be at the same position in the initial configuration. The proposed protocol is quiescent— all the robots are eventually motionless in the desired configuration, which remains true thereafter. In SSM, the improvement of the latest recent work for this problem is twofold: (1) the protocol works for any number n of weak robots, except if n = 4, and (2) no robot is required to reach its computed destination in one step.
Finally, starting from a biangular configuration, our protocol also solves CFP in the fully asynchronous model (CORDA). To our best knowledge, it is the first CFP protocol for SSM which is compatible with CORDA.
Keywords: Distributed Coordination, (Uniform) Circle Formation, Mobile Robot Networks, Self-Deployment.
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Dieudonné, Y., Petit, F. (2007). Swing Words to Make Circle Formation Quiescent. In: Prencipe, G., Zaks, S. (eds) Structural Information and Communication Complexity. SIROCCO 2007. Lecture Notes in Computer Science, vol 4474. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-72951-8_14
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DOI: https://doi.org/10.1007/978-3-540-72951-8_14
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