Asynchronous mobile robot gathering from symmetric configurations without global multiplicity detection

摘要: We consider a set of k autonomous robots that are endowed with visibility sensors (but otherwise unable to communicate) and motion actuators. Those must collaborate reach single vertex is unknown beforehand, remain there hereafter. Previous works on gathering in ringshaped networks suggest exists tradeoff between the size potential initial configurations, power sensing capabilities (i.e. larger configuration set, most powerful sensor needs be). prove no such trade off. propose protocol for an odd number ring-shaped network allows symmetric but not periodic configurations as yet uses only local weak multiplicity detection. Robots assumed be anonymous oblivious, execution model non-atomic CORDA asynchronous fair scheduling. Our largest (with respect impossibility results) weakest detector date. The time complexity our O(n2), where n denotes ring. Compared previous work also detection, we do have constraint < n/2 (here, simply 2 n-3).