Ring exploration of myopic luminous robots with visibility more than one

We investigate ring exploration algorithms for autonomous myopic luminous robots. We consider the constraint that the visible distance is any constant of at least two and the number of colors of light devices is two. As a main contribution, in the fully synchronous, semi-synchronous, and asynchronous models, we prove that 1) two robots are necessary and sufficient to achieve perpetual exploration and 2) three robots are necessary and sufficient to achieve terminating exploration. These results show the power of large visibility for luminous robots because, when the visible distance is one and the number of colors is two, three and four robots are necessary to achieve perpetual and terminating exploration, respectively, in the semi-synchronous and asynchronous models. We also show that the proposed perpetual exploration algorithm is universal. On the other hand, we show that no universal algorithm exists for terminating exploration with three robots. (c) 2023 Elsevier Inc. All rights reserved.