We consider the . Mutual Visibility problem for anonymous dimensionless . robots with obstructed visibility moving in a plane: starting from distinct locations, the robots must reach, without colliding, a configuration where no three of them are collinear. We study this problem in the . luminous robots model, in which each robot has a visible light that can assume colors from a fixed set.Among other results, we prove that . Mutual Visibility can be solved in . SSynch with 2 colors and in . ASynch with 3 colors. If an adversary can interrupt and stop a robot moving to its computed destination, . Mutual Visibility is still solvable in . SSynch with 3 colors and, if the robots agree on the direction of one axis, also in . ASynch.As a byproduct, we provide the first obstructed-visibility solutions to two classical problems for oblivious robots: . collision-less convergence to a point (also known as . near-gathering) and . circle formation.

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Persistent URL dx.doi.org/10.1016/j.ic.2016.09.005
Journal Information and Computation
Di Luna, G.A., Flocchini, P., Gan Chaudhuri, S., Poloni, F., Santoro, N, & Viglietta, G. (2017). Mutual visibility by luminous robots without collisions. Information and Computation, 254, 392–418. doi:10.1016/j.ic.2016.09.005