Abstract
ABSTRACT Arbitrary Pattern formation () by a swarm of mobile robots is a widely studied problem in the literature. Many works regarding have been proposed on plane and infinite grid by point robots. But in practical application, it is impossible to design point robots. In Bose et al. [Arbitrary pattern formation on infinite grid by asynchronous oblivious robots. Theor Comput Sci. 2020;815:213–227], the robots are assumed opaque fat robots but the environment is plane. To the best of our knowledge, no work till now ever considered the problem assuming opaque fat robots on infinite grid where movements are restricted. In this paper, we have provided a collisionless distributed algorithm and solved using 9 colours.
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