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RecentadvancesinDistributedComputinghighlightmodelsandalgo- rithms for autonomous swarms of mobile robots that self-organize and cooperate to solve global objectives. The overwhelming majority of works so far considers handmade algorithms and correctness proofs. This paper is the first to propose a formal framework to automatically design dis- tributed algorithms that are dedicated to autonomous mobile robots evolving in a discrete space. As a case study, we consider the problem of gathering all robots at a particular location, not known beforehand. Our contribution is threefold. First, we propose an encoding of the gathering problem as a reachability game. Then, we automatically generate an optimal distributed algorithm for three robots evolv- ing on a fixed size uniform ring. Finally, we prove by induction that the generated algorithm is also correct for any ring size except when an impossibility result holds (that is, when the number of robots divides the ring size).
We consider a swarm of $n$ autonomous mobile robots, distributed on a 2-dimensional grid. A basic task for such a swarm is the gathering process: All robots have to gather at one (not predefined) place. A common local model for extremely simple robot
We consider the following variant of the two dimensional gathering problem for swarms of robots: Given a swarm of $n$ indistinguishable, point shaped robots on a two dimensional grid. Initially, the robots form a closed chain on the grid and must kee
Applications of safety, security, and rescue in robotics, such as multi-robot target tracking, involve the execution of information acquisition tasks by teams of mobile robots. However, in failure-prone or adversarial environments, robots get attacke
The dispersion problem on graphs requires $k$ robots placed arbitrarily at the $n$ nodes of an anonymous graph, where $k leq n$, to coordinate with each other to reach a final configuration in which each robot is at a distinct node of the graph. The
Gathering is a fundamental coordination problem in cooperative mobile robotics. In short, given a set of robots with arbitrary initial locations and no initial agreement on a global coordinate system, gathering requires that all robots, following the