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Journal Articles Theoretical Computer Science Year : 2023

The agreement power of disagreement


We consider the rendezvous problem of two autonomous robots with very weak capacities. This problem is notoriously impossible to solve in the semi-synchronous execution model when robots are deterministic, oblivious, and their ego-centered coordinate system is fully symmetric. We show that if the robots disagree on the unit distance of their coordinate system, it becomes possible to solve rendezvous and agree on a final common location, without additional assumptions. We also generalize our scheme to solve gathering (that is, rendezvous of n ≥ 2 robots) in the same setting, possibly starting from a bivalent configuration.
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Dates and versions

hal-04026795 , version 1 (13-03-2023)



Quentin Bramas, Anissa Lamani, Sébastien Tixeuil. The agreement power of disagreement. Theoretical Computer Science, 2023, 954, pp.113772. ⟨10.1016/j.tcs.2023.113772⟩. ⟨hal-04026795⟩
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