Certified Universal Gathering in $R^2$ for Oblivious Mobile Robots

Abstract : We present a unified formal framework for expressing mobile robots models, protocols, and proofs, and devise a protocol design/proof methodology dedicated to mobile robots that takes advantage of this formal framework. As a case study, we present the first formally certified protocol for oblivious mobile robots evolving in a two-dimensional Euclidean space. In more details, we provide a new algorithm for the problem of universal gathering mobile oblivious robots (that is, starting from any initial configuration that is not bivalent, using any number of robots, the robots reach in a finite number of steps the same position, not known beforehand) without relying on a common orientation nor chirality. We give very strong guaranties on the correctness of our algorithm by proving formally that it is correct, using the COQ proof assistant. This result demonstrates both the effectiveness of the approach to obtain new algorithms that use as few assumptions as necessary, and its manageability since the amount of developed code remains human readable.
Liste complète des métadonnées

Contributeur : Sébastien Tixeuil <>
Soumis le : lundi 15 février 2016 - 16:46:12
Dernière modification le : mardi 10 juillet 2018 - 17:02:04
Document(s) archivé(s) le : lundi 16 mai 2016 - 10:15:11


Distributed under a Creative Commons Paternité - Pas d'utilisation commerciale 4.0 International License


  • HAL Id : hal-01274295, version 1
  • ARXIV : 1602.08361


Pierre Courtieu, Lionel Rieg, Sébastien Tixeuil, Xavier Urbain. Certified Universal Gathering in $R^2$ for Oblivious Mobile Robots. [Research Report] UPMC; CNAM. 2016. 〈hal-01274295〉



Consultations de la notice


Téléchargements de fichiers