Circle Formation of Weak Mobile Robots

The Circle Formation Problem (CFP) consists in the design of a protocol insuring that starting from an initial arbitrary configuration, n robots eventually form a regular n-gon. In this paper, we present the first protocol which deterministically solves CFP in finite time for any number of robots, provided that n ∉ {4, 6, 8}. The proposed protocol works in the semi-synchronous model introduced in [1]. The robots are assumed to be uniform, anonymous, oblivious, and they share no kind of coordinate system nor common sense of direction.

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