Separation of Unconscious Robots with Obstructed Visibility
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arXiv
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| Main Authors: | , , , , |
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| Format: | Preprint |
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2025
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| _version_ | 1866908612297752576 |
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| author | Pyati, Prajyot Kaur, Navjot Jana, Saswata Bhattacharya, Adri Mandal, Partha Sarathi |
| author_facet | Pyati, Prajyot Kaur, Navjot Jana, Saswata Bhattacharya, Adri Mandal, Partha Sarathi |
| contents | We study a recently introduced \textit{unconscious} mobile robot model, where each robot is associated with a \textit{color}, which is visible to other robots but not to itself. The robots are autonomous, anonymous, oblivious and silent, operating in the Euclidean plane under the conventional \textit{Look-Compute-Move} cycle. A primary task in this model is the \textit{separation problem}, where unconscious robots sharing the same color must separate from others, forming recognizable geometric shapes such as circles, points, or lines. All prior works model the robots as \textit{transparent}, enabling each to know the positions and colors of all other robots. In contrast, we model the robots as \textit{opaque}, where a robot can obstruct the visibility of two other robots, if it lies on the line segment between them. Under this obstructed visibility, we consider a variant of the separation problem in which robots, starting from any arbitrary initial configuration, are required to separate into concentric semicircles. We present a collision-free algorithm that solves the separation problem under a semi-synchronous scheduler in $O(n)$ epochs, where $n$ is the number of robots. The robots agree on one coordinate axis but have no knowledge of $n$. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2510_22434 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Separation of Unconscious Robots with Obstructed Visibility Pyati, Prajyot Kaur, Navjot Jana, Saswata Bhattacharya, Adri Mandal, Partha Sarathi Distributed, Parallel, and Cluster Computing Robotics We study a recently introduced \textit{unconscious} mobile robot model, where each robot is associated with a \textit{color}, which is visible to other robots but not to itself. The robots are autonomous, anonymous, oblivious and silent, operating in the Euclidean plane under the conventional \textit{Look-Compute-Move} cycle. A primary task in this model is the \textit{separation problem}, where unconscious robots sharing the same color must separate from others, forming recognizable geometric shapes such as circles, points, or lines. All prior works model the robots as \textit{transparent}, enabling each to know the positions and colors of all other robots. In contrast, we model the robots as \textit{opaque}, where a robot can obstruct the visibility of two other robots, if it lies on the line segment between them. Under this obstructed visibility, we consider a variant of the separation problem in which robots, starting from any arbitrary initial configuration, are required to separate into concentric semicircles. We present a collision-free algorithm that solves the separation problem under a semi-synchronous scheduler in $O(n)$ epochs, where $n$ is the number of robots. The robots agree on one coordinate axis but have no knowledge of $n$. |
| title | Separation of Unconscious Robots with Obstructed Visibility |
| topic | Distributed, Parallel, and Cluster Computing Robotics |
| url | https://arxiv.org/abs/2510.22434 |