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Conference Papers Year : 2016

Brief announcement: Probabilistic Asynchronous Arbitrary Pattern Formation


We propose a new probabilistic pattern formation algorithm for oblivious mobile robots that operates in the ASYNC model. Unlike previous work, our algorithm makes no assumptions about the local coordinate systems of robots (the robots do not share a common ``North'' nor a common ``Right''), yet it preserves the ability from any initial configuration that contains at least 5 robots to form any general pattern (and not just patterns that satisfy symmetricity predicates). Our proposal also gets rid of the previous assumption (in the same model) that robots do not pause while moving (so, our robots really are fully asynchronous), and the amount of randomness is kept low -- a single random bit per robot per Look-Compute-Move cycle is used. Our protocol consists in the combination of two phases, a probabilistic leader election phase, and a deterministic pattern formation one. As the deterministic phase does not use chirality, it may be of independent interest in the deterministic context. A noteworthy feature of our algorithm is the ability to form patterns with multiplicity points, a new feature in the context of pattern formation that we believe is an important asset of our approach.
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Dates and versions

hal-01349087 , version 1 (26-07-2016)


  • HAL Id : hal-01349087 , version 1


Quentin Bramas, Sébastien Tixeuil. Brief announcement: Probabilistic Asynchronous Arbitrary Pattern Formation. ACM Conference on Principles of Distributed Computing (PODC), Jul 2016, Chicago, United States. ⟨hal-01349087⟩
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