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We investigate ways for the exchange of information (explicit communication)among deaf and dumb mobile robots scattered in the plane. We introduce the useof movement-signals (analogously to flight signals and bees waggle) as a meanto transfer messages, enabling the use of distributed algorithms among therobots. We propose one-to-one deterministic movement protocols that implementexplicit communication. We first present protocols for synchronous robots. Webegin with a very simple coding protocol for two robots. Based on on thisprotocol, we provide one-to-one communication for any system of n \geq 2 robotsequipped with observable IDs that agree on a common direction (sense ofdirection). We then propose two solutions enabling one-to-one communicationamong anonymous robots. Since the robots are devoid of observable IDs, bothprotocols build recognition mechanisms using the (weak) capabilities offered tothe robots. The first protocol assumes that the robots agree on a commondirection and a common handedness (chirality), while the second protocolassumes chirality only. Next, we show how the movements of robots can provideimplicit acknowledgments in asynchronous systems. We use this result to designasynchronous one-to-one communication with two robots only. Finally, we combinethis solution with the schemes developed in synchronous settings to fit thegeneral case of asynchronous one-to-one communication among any number ofrobots. Our protocols enable the use of distributing algorithms based onmessage exchanges among swarms of Stigmergic robots. Furthermore, they providesrobots equipped with means of communication to overcome faults of theircommunication device.

Deaf, Dumb, and Chatting Robots, Enabling Distributed Computation and Fault-Tolerance Among Stigmergic Robot