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Assuming a cohort of n ≥ 4 robots devoid of sense of direction,

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[Flocchini et al., 2008]

Assuming a cohort of n ≥ 3 robots devoid of sense of direction, if it is possible to solve the pattern formation problem, then the leader election problem is solvable.

Lemma (⇐)

[Yamashita and Suzuki, 2008] [Petit and Dieudonn ´e, 2009]

Assuming a cohort of n ≥ 4 robots devoid of sense of direction,

if it is possible to solve the leader election problem, then the

pattern formation problem is solvable, provided that the robots

have the property of chirality.

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