Convergence Properties of the Gravitational Algorithm in Asynchronous Robot Systems

R. Cohen, David Peleg

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review


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.
Original languageAmerican English
Title of host publicationAlgorithms – ESA 2004
EditorsSusanne Albers, Tomasz Radzik
Place of PublicationBerlin Heidelberg
StatePublished - 2004

Publication series

NameLecture Notes in Computer Science


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