Pattern Formation Problems for Mobile Robots

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Conference Article

Publication Title

ACM International Conference Proceeding Series


The gathering over meeting nodes problem requires the mobile robots to gather at one of the pre-defined meeting nodes. The robots are deployed on the nodes of an anonymous two-dimensional infinite grid which has a subset of nodes marked as meeting nodes. This work addresses the solvability of the problem under different settings. The problem has been studied under the objective function that minimizes the total number of moves made by all the robots to finalize the gathering task. A variation of the problem considers two disjoint and finite groups of anonymous robots. The problem also comprises two finite and disjoint sets of heterogeneous meeting nodes. Each robot in the first (resp. second) group must gather at one of the meeting nodes belonging to the first (resp. second) set.

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