  This paper proposes a distributed algorithm for a set of tiny unit disc
shaped robot to form a straight line. The robots are homoge- neous, autonomous,
anonymous. They observe their surrounding up to a certain distance, compute
destinations to move to and move there. They do not have any explicit message
sending or receiving capability. They forget their past observed or computed
data. The robots do not have any global coordinate system or origin. Each robot
considers its position as its origin. However, they agree on the X and Y axis.
The robots are not aware of the total number of robots in the system. The
algorithm presented in this paper assures collision free movements of the
robots. To the best of our knowledge this paper is the first reported result on
line formation by fat robots under limited visibility.
