2016/05/19 by Marcello Mamino, Giovanni Viglietta, Mamino, Marcello +1
Computer Science · Engineering · #Computational Geometry (cs.CG) #Distributed #Distributed systems and fault tolerance #FOS: Computer and information sciences #Modular Robots and Swarm Intelligence #Optimization and Search Problems #Parallel #Robotics (cs.RO) #and Cluster Computing (cs.DC)
paper · pdf · doi:10.48550/arxiv.1605.06093
openalex publication_date 2016/05/19 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
A fundamental problem in Distributed Computing is the Pattern Formation problem, where some independent mobile entities, called robots, have to rearrange themselves in such a way as to form a given figure from every possible (non-degenerate) initial configuration. In the present paper, we consider robots that operate in the Euclidean plane and are dimensionless, anonymous, oblivious, silent, asynchronous, disoriented, non-chiral, and non-rigid. For this very elementary type of robots, the feasibility of the Pattern Formation problem has been settled, either in the positive or in the negative, for every possible pattern, except for one case: the Square Formation problem by a team of four robots. Here we solve this last case by giving a Square Formation algorithm and proving its correctness. Our contribution represents the concluding chapter in a long thread of research. Our results imply that in the context of the Pattern Formation problem for mobile robots, features such as synchronicity, chirality, and rigidity are computationally irrelevant.