Given today’s technological advances and decreasing manufacturing cost, mobile robots are expected to be utilized in the near future in a wide range of applications to assist humans, in places like factories, hospitals, museums and households. Since roughly speaking a robot, just like a computer, is hardware (wheels, motors, manipulators, sensors, etc.) controlled by software, a useful robot must have hardware capable of performing the required physical actions and software capable of analyzing the sensor output and determining a good course of action for achieving the given goal efficiently in a given (possibly unknown) environment. Consequently, there are two general aspects of robotics research, one on hardware and one on software. In this note we focus on the latter, and give a brief overview of a research topic in mobile robot algorithm design that has received considerable attention in recent years — formation of geometric patterns by autonomous mobile robots under distributed control. Motion coordination and self-organization of mobile robots under distributed control have been a common research area in automatic control, robotics and computer science. Engineering motivations for investigating self-organization arise in designing algorithms fo
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