A distributed algorithm for assembling of asynchronous swarm of mobile robots with limited visibility in presence of horizontal line obstacle

Abstract

This paper presents a distributed algorithmic solution for assembling of swarm of asynchronous mobile robots on the left boundary of a given rectangular region in presence of line obstacles by synchronizing them using visible bits. Each robot is equipped with light bulb with 3 different colors (off, blue and red). The color of the light bulb is visible to itself and to all the other robots and is also persistent. All the robots execute same algorithm based on the same snapshot to compute the destination. We are considering asynchronous timing model and CORDA model for computation. The proposed algorithm uses visible bits to synchronize the asynchronous robots.