Leader Election Problem Versus Pattern Formation Problem

TL;DR

This paper explores the relationship between leader election and pattern formation in autonomous robots within the CORDA model, establishing conditions under which these tasks are equivalent depending on the presence of chirality.

Contribution

It proves the equivalence of leader election and pattern formation for certain robot counts, considering the presence or absence of common handedness in the CORDA model.

Findings

Leader election implies pattern formation for n ≥ 3 robots.

Pattern formation implies leader election for n ≥ 4 with chirality.

Pattern formation implies leader election for n ≥ 5 without chirality.

Abstract

Leader election and arbitrary pattern formation are funda- mental tasks for a set of autonomous mobile robots. The former consists in distinguishing a unique robot, called the leader. The latter aims in arranging the robots in the plane to form any given pattern. The solv- ability of both these tasks turns out to be necessary in order to achieve more complex tasks. In this paper, we study the relationship between these two tasks in a model, called CORDA, wherein the robots are weak in several aspects. In particular, they are fully asynchronous and they have no direct means of communication. They cannot remember any previous observation nor computation performed in any previous step. Such robots are said to be oblivious. The robots are also uniform and anonymous, i.e, they all have the same program using no global parameter (such as an identity) allowing to differentiate any of them. Moreover, we assume that none of them share any kind of common coordinate mechanism or common sense of direction and we discuss the influence of a common handedness (i.e., chirality). In such a system, Flochini et al. proved in [11] that it is possible to elect a leader for n \geq 3 robots if it is possible to form any pattern for n \geq 3. In this paper, we show that the converse is true for n \geq 4 when the robots share a common handedness and for n \geq 5 when they do not. Thus, we deduce that with chirality (resp. without chirality) both problems are equivalent for n \geq 4 (resp. n \geq 5) in CORDA.