N.B. The title has not been reproduced in full as some people find it offensive.
Yoann Dieudonné, Shlomi Dolev, Franck Petit, Michael Segal
Lecture Notes in Computer Science Volume 5923, 2009, pp 71-85
This paper faces the issues of letting simple robots interact. The authors propose one-to-one deterministic movement protocols that implement explicit communication among asynchronous robots. They first show how the movements of robots can provide implicit acknowledgment in asynchronous systems. Then, they use this result to design one-to-one communication among a pair of robots.