Scatter of Weak Robots

In this paper, we first formalize the problem to be solved, i.e., the Scatter Problem (SP). We then show that SP cannot be deterministically solved. Next, we propose a randomized algorithm for this problem. The proposed solution is trivially self-stabilizing. We then show how to design a self-stabilizing version of any deterministic solution for the Pattern Formation and the Gathering problems. In the next section, we describe the model considered in this paper and the formal definition of the problem to be solved, i.e., the Scatter Problem. Next, in Section 3, we consider how this problem can be solved. We first show that the Scatter Problem cannot be deterministically solved in the considered model. We then give a probabilistic algorithm for this problem along with its correctness proof. In Section 4, we put the result of Section 3 back in the context of distributed coordination of autonomous mobile robots. In this area, two classes of problem received a particular attention: