Complete visibility for oblivious robots in O(N) Time

Gokarna Sharma, Costas Busch, Supratik Mukhopadhyay

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations


We consider the distributed setting of N autonomous mobile robots that operate in Look-Compute-Move cycles following the classic oblivious robots model. We study the fundamental problem where starting from an arbitrary initial configuration, N autonomous robots reposition themselves to a convex hull formation on the plane where each robot is visible to all others (the Complete Visibility problem). We assume obstructed visibility, where a robot cannot see another robot if a third robot is positioned between them on the straight line connecting them. We provide the first O(N) time algorithm for this problem in the fully synchronous setting. Our contribution is a significant improvement over the runtime of the only previously known algorithm for this problem which has a lower bound of Ω(N 2 ) in the fully synchronous setting. The proposed algorithm is collision-free – robots do not share positions and their paths do not cross.

Original languageEnglish (US)
Title of host publicationNetworked Systems - 6th International Conference, NETYS 2018, Revised Selected Papers
EditorsAndreas Podelski, François Taïani
PublisherSpringer Verlag
Number of pages18
ISBN (Print)9783030055288
StatePublished - 2019
Externally publishedYes
Event6th International Conference on Networked Systems, NETYS 2018 - Essaouira, Morocco
Duration: May 9 2018May 11 2018

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume11028 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Other6th International Conference on Networked Systems, NETYS 2018

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)


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