Gathering few fat mobile robots in the plane

Jurek Czyzowicz, Leszek Ga̧sieniec, Andrzej Pelc

Research output: Contribution to journalArticlepeer-review

99 Scopus citations


Autonomous identical robots represented by unit discs move deterministically in the plane. They do not have any common coordinate system, do not communicate, do not have memory of the past and are totally asynchronous. Gathering such robots means forming a configuration for which the union of all discs representing them is connected. We solve the gathering problem for at most four robots. This is the first algorithmic result on gathering robots represented by two-dimensional figures rather than points in the plain: we call such robots fat.

Original languageEnglish (US)
Pages (from-to)481-499
Number of pages19
JournalTheoretical Computer Science
Issue number6-7
StatePublished - Feb 28 2009
Externally publishedYes


  • Algorithm
  • Asynchronous
  • Gathering
  • Robot

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)


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