  This paper presents a deterministic algorithm for forming a given asymmetric
pattern in finite time by a set of autonomous, homogeneous, oblivious mobile
robots under the CORDA model. The robots are represented as points on the 2D
plane. There is no explicit communication between the robots. The robots
coordinate among themselves by observing the positions of the other robots on
the plane. Initially all the robots are assumed to be stationary. The robots
have local coordinate systems defined by Sense of Direction (SoD), orientation
or chirality and scale. Initially the robots are in asymmetric configuration.
We show that these robots can form any given asymmetric pattern in finite time.
