Assembling of SWARM of Asynchronous Mobile Robots in Presence of Convex Polygonal Obstacles

The proposed work aims to assemble a group of autonomous, anonymous, small, simple mobile robots on a common boundary of a bounded rectangular region with convex polygonal obstacles, within a finite amount of time, and with zero collision. In this proposed work, robots are asynchronous, i.e., they may enter the Sleep state at any moment; they do not have direct communication among themselves, and have no prior knowledge about the internal environment of the region. The solution methodology is based on the standard CORDA (Observe-Compute-Move) and Full-Compass models. The robots execute three phases throughout the algorithm: Trigger, Transit, and Assemble. Once triggered, the robots segregate themselves into three categories based on their initial position. A special group of robots enters the Transit phase, and among them, the one that is right-most and bottommost is determined (Rright), whereas all the other robots execute the Assemble phase. The Rright plays a vital role by ensuring that all the robots must assemble and complete the process within a finite time.