Circle Formation of Weak Mobile Robots

In this paper, we address the class of distributed systems wh ere computing units are autonomous mobile robots (also sometimes referred to sensors or agents), i.e., devices equipped with sensors which do not depend on a central scheduler and designed to mov e in a two-dimensional plane. Also, we assume that the robots cannot remember any previous obser vation nor computation performed in any previous step. Such robots are said to be oblivious (or memoryless). The robots are also uniform and anonymous, i.e, they all have the same program using no local parameter (such that an identity) allowing to differentiate any of them. Moreover, no ne of them share any kind of common coordinate mechanism or common sense of direction, and they communicate only by observing the position of the others.