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Conference Papers Year : 2021

Stand up Indulgent Gathering


We consider a swarm of mobile robots evolving in a bidimensional Euclidean space. We study the stronger variant of crash-tolerant gathering: if no robot crashes, robots have to meet at the same arbitrary location, not known beforehand, in finite time; if one or several robots crash at the same location, the remaining correct robots gather at the crash location to rescue them. Motivated by impossibility results in the semi-synchronous setting, we present the first solution to the problem for the fully synchronous setting that operates in the vanilla Look-Compute-Move model with no additional hypotheses: robots are oblivious, disoriented, have no multiplicity detection capacity, and may start from arbitrary positions (including those with multiplicity points). We furthermore show that robots gather in a time that is proportional to the initial maximum distance between robots.

Dates and versions

hal-03398848 , version 1 (23-10-2021)



Quentin Bramas, Anissa Lamani, Sébastien Tixeuil. Stand up Indulgent Gathering. ALGOSENSORS 2021, Aug 2021, Lisbon, Portugal. pp.17-28, ⟨10.1007/978-3-030-89240-1_2⟩. ⟨hal-03398848⟩
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