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An autonomous mobile robot system is a distributed system consisting ofmobile computational entities (called robots) that autonomously and repeatedlyperform three operations: Look, Compute, and Move. Various problems related toautonomous mobile robots, such as gathering, pattern formation, or flocking,have been extensively studied to understand the relationship between eachrobot's capabilities and the solvability of these problems. In this study, wefocus on the complete visibility problem, which involves relocating all therobots on an infinite grid plane such that each robot is visible to every otherrobot. We assume that each robot is a luminous robot (i.e., has a light with aconstant number of colors) and opaque (not transparent). In this paper, wepropose an algorithm to achieve complete visibility when a set of robots isgiven. The algorithm ensures that complete visibility is achieved even whenrobots operate asynchronously and have no knowledge of the total number ofrobots on the grid plane using only two colors.

Complete Visibility Algorithm for Autonomous Mobile Luminous Robots under an Asynchronous Scheduler on Grid Plane