Optimal Gathering of Oblivious Robots in Anonymous Graphs

Gabriele Di Stefano, Alfredo Navarra

Abstract: The paper presents general results about the gathering problem on graphs. A team of robots placed at the vertices of a graph, have to meet at some vertex and remain there. Robots operate in Look-Compute-Move cycles; in one cycle, a robot perceives the current configuration in terms of robots disposal (Look), decides whether to move towards one of its neighbors (Compute), and in the positive case makes the computed move (Move). Cycles are performed asynchronously for each robot.