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A mobile robot system consists of anonymous mobile robots, each of whichautonomously performs sensing, computation, and movement according to a commonalgorithm, so that the robots collectively achieve a given task. There are twomain models of time and activation of the robots. In the semi-synchronous model(SSYNC), the robots share a common notion of time; at each time unit, a subsetof the robots is activated, and each performs all three actions (sensing,computation, and movement) in that time unit. In the asynchronous model(ASYNC), there is no common notion of time, the robots are activated atarbitrary times, and the duration of each action is arbitrary but finite.  In this paper, we investigate the problem of synchronizing ASNYC robots withlimited sensing range, i.e., limited visibility. We first present a sufficientcondition for an ASYNC execution of a common algorithm ${\cal A}$ to have acorresponding SSYNC execution of ${\cal A}$; our condition imposes timingconstraints on the activation schedule of the robots and visibility constraintsduring movement. Then, we prove that this condition is necessary (withprobability $1$) under a randomized ASYNC adversary. Finally, we present asynchronization algorithm for luminous ASYNC robots with limited visibility,each equipped with a light that can take a constant number of colors. Ouralgorithm enables luminous ASYNC robots to simulate any algorithm ${\cal A}$,designed for the (non-luminous) SSYNC robots and satisfying visibilityconstraints.

A Characterization of Semi-Synchrony for Asynchronous Robots with Limited Visibility, and its Application to Luminous Synchronizer Design