Technical Report CIS-2003-03

Title: Discrete Bee Dance Algorithms for Pattern Formation on a Grid
Authors: Noam Gordon, Israel A. Wagner and Alfred M. Bruckstein
Abstract: This paper presents a solution to the problem of pattern formation on a grid, for a group of identical autonomous robotic agents, that have very limited communication capabilities. The chief method of communication between the agents is by moving and observing their positions on the grid. The proposed algorithm is a sequence of several coordinated ``bee dances'' on the grid, through which the agents broadcast information and cooperate in order to reach agreements and resolve problems due to their indistinguishability.
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