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Arbitrary Pattern Formation with Four Robots

Abstract : The pattern formation problem by autonomous mobile robots has been extensively studied and is at the core of oblivious mobile robots literature. However remaining cases involving few robots are still open. In this paper we propose a new geometric invariant that exists in any configuration with four robots. We then use this invariant to solve the pattern formation problem with four robots, with or without the common chirality assumption.
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Contributor : Sébastien Tixeuil <>
Submitted on : Friday, March 22, 2019 - 10:40:25 AM
Last modification on : Friday, March 6, 2020 - 1:22:12 AM



Quentin Bramas, Sébastien Tixeuil. Arbitrary Pattern Formation with Four Robots. SSS 2018 - 20th International Symposium on Stabilization, Safety, and Security of Distributed Systems, Nov 2018, Tokyo, Japan. pp.333-348, ⟨10.1007/978-3-030-03232-6_22⟩. ⟨hal-02076496⟩



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