Using eventually consistent compasses to gather oblivious mobile robots with limited visibility

Samia Souissi, Xavier Défago, Masafumi Yamashita

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 Citations (Scopus)


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

Original languageEnglish
Title of host publicationStabilization, Safety, and Security of Distributed Systems - 8th International Symposium, SSS 2006. Proceedings
PublisherSpringer Verlag
Number of pages17
ISBN (Print)3540490183, 9783540490180
Publication statusPublished - 2006
Event8th International Symposium on Self-Stabilizing Systems, SSS 2006 - Dallas, TX, United States
Duration: Nov 17 2006Nov 19 2006

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume4280 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Other8th International Symposium on Self-Stabilizing Systems, SSS 2006
Country/TerritoryUnited States
CityDallas, TX

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • General Computer Science


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