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Synchronous Gathering Without Multiplicity Detection: A Certified Algorithm

Abstract : In mobile robotic swarms, the gathering problem consists in coordinating all the robots so that in finite time they occupy the same location, not known beforehand. Multiplicity detection refers to the ability to detect that more than one robot can occupy a given position. When the robotic swarm operates synchronously, a well-known result by Cohen and Peleg permits to achieve gathering, provided robots are capable of multiplicity detection. We present a new algorithm for synchronous gathering, that does not assume that robots are capable of multiplicity detection, nor make any other extra assumption. Unlike previous approaches, our proof correctness is certified in the model where the protocol is defined, using the Coq proof assistant.
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Contributor : Sébastien Tixeuil <>
Submitted on : Friday, March 17, 2017 - 2:03:56 PM
Last modification on : Wednesday, September 23, 2020 - 4:32:17 AM



Thibaut Balabonski, Amélie Delga, Lionel Rieg, Sébastien Tixeuil, Xavier Urbain. Synchronous Gathering Without Multiplicity Detection: A Certified Algorithm. International Symposium on Stabilization, Safety, and Security of Distributed Systems (SSS 2016), Nov 2016, Lyon, France. pp.7-19, ⟨10.1007/978-3-319-49259-9_2⟩. ⟨hal-01491813⟩



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