K-Circle Formation by Oblivious Mobile Robots

Document Type

Conference Article

Publication Title

ACM International Conference Proceeding Series


A solution to the k-circle formation problem requires the formation of disjoint circles by a swarm of mobile robots. The circles are restricted to be centered at one of the pre-fixed points. Each circle must contain exactly k robots at distinct positions. The robots are oblivious, autonomous, anonymous, homogeneous, and silent. They operate in Look-Compute-Move cycles under a fair asynchronous scheduler. This study addresses the solvability of the k-circle formation in the Euclidean plane. The k-circle formation is studied for point robots under one axis agreement. The relationship between the k-circle formation and the k-EPF (A generalized embedded pattern formation) problem is also studied. The solvability of the k-circle formation is investigated for disoriented point robots. Finally, the problem is considered for fat robots under one axis agreement.

First Page


Last Page




Publication Date


This document is currently not available here.