Wait-Free Gathering of Mobile Robots
Zohir Bouzid, Shantanu Das, S\'ebastien Tixeuil

TL;DR
This paper presents a self-stabilizing algorithm for gathering multiple mobile robots in the semi-synchronous model, capable of handling any number of crash faults, advancing fault-tolerance in distributed robot coordination.
Contribution
It introduces the first solution for gathering correct robots despite multiple crash failures, assuming strong multiplicity detection and chirality.
Findings
Achieves gathering with any number of crash faults in semi-synchronous robots
Works from any initial configuration except bivalent configurations
Self-stabilizing and resilient to crash failures
Abstract
The problem of gathering multiple mobile robots to a single location, is one of the fundamental problems in distributed coordination between autonomous robots. The problem has been studied and solved even for robots that are anonymous, disoriented, memoryless and operate in the semi-synchronous (ATOM) model. However all known solutions require the robots to be faulty-free except for the results of [Agmon and Peleg 2006] who solve the gathering problem in presence of one crash fault. This leaves open the question of whether gathering of correct robots can be achieved in the presence of multiple crash failures. We resolve the question in this paper and show how to solve gathering, when any number of robots may crash at any time during the algorithm, assuming strong multiplicity detection and chirality. In contrast it is known that for the more stronger byzantine faults, it is impossible…
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Taxonomy
TopicsOptimization and Search Problems · Distributed systems and fault tolerance · Modular Robots and Swarm Intelligence
