# Probabilistic Gathering Of Agents With Simple Sensors

## TL;DR

This paper investigates a probabilistic gathering algorithm for anonymous, oblivious agents with simple sensors, demonstrating finite-time convergence through empirical and theoretical analysis under different motion models.

## Contribution

It introduces a novel probabilistic gathering method for agents with minimal sensing and no communication, providing empirical and theoretical insights into convergence behavior.

## Key findings

- Clustering occurs in finite expected time with high probability.
- Continuous sensing and motion can guarantee gathering with a blind-zone.
- Convergence time depends on the number of agents and blind-zone size.

## Abstract

Gathering is a fundamental task for multi-agent systems and the problem has been studied under various assumptions on the sensing capabilities of mobile agents. This paper addresses the problem for a group of agents that are identical and indistinguishable, oblivious, and lack the capacity of direct communication. At the beginning of unit-time intervals, the agents select random headings in the plane and then detect the presence of other agents behind them. Then they move forward only if no agents are detected in their sensing "back half-plane". Two types of motion are considered: when no peers are detected behind them, either the agents perform unit jumps forward, or they start to move with unit speed while continuously sensing their back half-plane, and stop whenever another agent appears there. For the first type of motion extensive empirical evidence suggests that with high probability clustering occurs in finite expected time to a small region with diameter of about the size of the unit jump, while for continuous sensing and motion we can prove gathering in finite expected time if a "blind-zone" is assumed in their sensing half-plane. Relationships between the number of agents or the size of the blind-zone and convergence time are empirically studied and compared to a theoretical upper-bound dependent on these factors.