Uniform Circle Formation By Fat Robots

This paper proposes a distributed algorithm for forming a Uniform Circle by n > 1 autonomous, homogeneous disc shaped robots (also known as fat robots), where the robots are asked to place themselves equidistant apart on the periphery of a circle (not given in advanced). The robots operate by executing cycles of the states "sense-compute-move" simultaneously. They do not interact by message passing. The robots can recollect neither the past actions nor the sensed data from previous cycle. They are indistinguishable. The robots do not have any global coordinate system. They agree upon only Y-axis (South and North direction). This paper presents a collision free movement strategy for the robots in order to form a uniform circle.