Using eventually consistent compasses to gather memory-less mobile robots with limited visibility

摘要: Reaching agreement among a set of mobile robots is one the most fundamental issues in distributed robotic systems. This problem often illustrated by gathering problem, where must self-organize and meet at some location not determined advance, without help global coordinate system. While very simple to express, this has advantage retaining inherent difficulty agreement, namely question breaking symmetry between robots. In previous works, it been proved that solvable asynchronous model with oblivious (i.e., memory-less) limited visibility, as long share knowledge direction, provided compass. However, no solution semi-synchronous when do compass, or they cannot detect multiplicity.In article, we define which compasses may be unreliable, study solvability visibility model. particular, give an algorithm solves finite time system are unstable for arbitrary periods, stabilize eventually. addition, show our three Our intrinsically self-stabilizing.