Mutual visibility by fat robots with slim omnidirectional camera

In the existing literature of Mutual Visibility problem for autonomous robot swarms, adopted visibility models have some idealistic assumptions that are not consistent with practical sensing device implementations. This paper investigates in more realistic model called opaque fat robots slim omnidirectional camera. The modeled as unit disks, each having an camera represented a disk smaller size. region obstructed by single this is truncated infinite cone. makes significantly challenging compared to previous ones. We assume compasses allow agreement direction and orientation both axes their local coordinate systems. equipped visible lights which serve medium communication also form memory. present distributed algorithm provably correct semi-synchronous setting. Our provides solution Leader Election we use subroutine our main algorithm. Although trivial two axis full model, it case independent interest.