  This paper considers the problem of conflict-free distribution of agents on a
circular periphery encompassing all agents. The two key elements of the
proposed policy include the construction of a set of convex layers (nested
convex polygons) using the initial positions of the agents, and a novel search
space region for each of the agents. The search space for an agent on a convex
layer is defined as the region enclosed between the lines passing through the
agent's position and normal to its supporting edges. Guaranteeing
collision-free paths, a goal assignment policy designates a unique goal
position within the search space of an agent. In contrast to the existing
literature, this work presents a one-shot, collision-free solution to the
circular distribution problem by utilizing only the initial positions of the
agents. Illustrative examples demonstrate the effectiveness of the proposed
policy.
