A survey on pattern formation of autonomous mobile robots: Asynchrony, obliviousness and visibility

Research output: Contribution to journalConference article

4 Citations (Scopus)


A robot system consists of autonomous mobile robots each of which repeats Look-Compute-Move cycles, where the robot observes the positions of other robots (Look phase), computes the track to the next location (Compute phase), and moves along the track (Move phase). In this survey, we focus on self-organization of mobile robots, especially their power of forming patterns. The formation power of a robot system is the class of patterns that the robots can form, and existing results show that the robot system's formation power is determined by their asynchrony, obliviousness, and visibility. We briefly survey existing results, with impossibilities and pattern formation algorithms. Finally, we present several open problems related to the pattern formation problem of mobile robots.

Original languageEnglish
Article number012016
JournalJournal of Physics: Conference Series
Issue number1
Publication statusPublished - Jan 1 2013
EventELC International Meeting on Inference, Computation, and Spin Glasses, ICSG 2013 - Sapporo, Japan
Duration: Jul 28 2013Jul 30 2013


All Science Journal Classification (ASJC) codes

  • Physics and Astronomy(all)

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