@inbook{f128c041ed3946b78cb7f62befbdb48c,
title = "Convergence properties of the gravitational algorithm in asynchronous robot systems",
abstract = "This paper considers the convergence problem in autonomous mobile robot systems. A natural algorithm for the problem requires the robots to move towards their center of gravity. Previously it was known that the gravitational algorithm converges in the synchronous or semi-synchronous model, and that two robots converge in the asynchronous model. The current paper completes the picture by proving the correctness of the gravitational algorithm in the fully asynchronous model for any number of robots. It also analyses its convergence rate, and establishes its convergence in the presence of crash faults.",
author = "Reuven Cohen and David Peleg",
year = "2004",
doi = "10.1007/978-3-540-30140-0_22",
language = "אנגלית",
isbn = "3540230254",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
pages = "228--239",
editor = "Susanne Albers and Tomasz Radzik",
booktitle = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
address = "גרמניה",
}