Conflicting Pattern Formation by Teams of Anonymous, Fully Disoriented Robots

2026-09-20

AI Summary

研究解决两组完全无方向的匿名机器人同时完成聚集和圆形排列两个冲突任务的问题，提出了一种适用于半同步非刚性移动机器人的分布式算法。

Abstract

Two groups of autonomous, anonymous, and oblivious mobile robots are deployed in the two-dimensional Euclidean plane, each assigned a distinct task. We study a setting where the two groups must simultaneously solve two conflicting pattern formation problems: the \textit{gathering problem}, where robots gather at a point not known to them a priori, and the \textit{circle formation problem}, where robots occupy distinct positions on the boundary of a circle. Although each robot knows its own task, it cannot identify other members of its group. A prior solution~\cite{Conflict-1} addressed this problem for asynchronous robots having {\it direction-only axis agreement} and {\it global weak multiplicity detection} capability available to all robots in both groups. In contrast, in this work, we consider fully {\it disoriented robots} without any axis agreement or common \textit{chirality}. We study the feasibility of a solution to this problem for {\it disoriented robots}. We propose a distributed algorithm that solves the problem for semi-synchronous disoriented robots with non-rigid movements. Our proposed algorithm assumes global weak multiplicity detection only for the gathering group, while for the circle formation group, it requires local weak multiplicity detection.

Problem

• conflicting pattern formation
• anonymous robots
• fully disoriented
• gathering problem
• circle formation problem

Innovation

• fully disoriented robots
• conflicting pattern formation
• semi-synchronous
• non-rigid movements
• weak multiplicity detection