A distributed algorithm for the coordination of dynamic barricades composed of autonomous mobile robots

In this paper, we study the distributed coordination of a set of synchronous, anonymous, memoryless mobile robots that can freely move on a two-dimensional plane but are unable to communicate directly. Based on this model, we analyze the application problem that consists in having a group of robots form a barricade line to protect from car traffic a crowd of demonstrators parading on the street. For the sake of robustness, we privilege fully decentralized solutions to the problem. In particular, we give a self-stabilizing distributed algorithm to address the problem, in this presentation