Gathering problems for autonomous mobile robots with lights

An autonomous robot system is a distributed comprising mobile robots that perform tasks of interest such as formation and flocking. In basic model when have no lights (no memory communication devices), Gathering, type problem asks all the to meet at single point not known priori, impossible if semi-synchronous (SSYNC, subset synchronously activated each time) or even centralized (only one [7], [23]. Furthermore, multiplicity detection mechanism, Gathering solvable only number odd. This work aims further characterize impact different capabilities/assumptions (including light capability) on solvability problem. We introduce novel types view called “set-view”, “arbitrary-view” “multi-set-view,” then propose six algorithms (five these are optimal in terms colors lights) solve lights. The proposed algorithm SSYNC shows stronger than mechanism for solving