The Agreement Power of Disagreement

Quentin Bramas (1) , Anissa Lamani (1) , Sébastien Tixeuil (2, 3)

1 ICube - Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie
2 NPA - Networks and Performance Analysis
3 LINCS - Laboratory of Information, Network and Communication Sciences

We consider the rendezvous problem of two autonomous robots with very weak capacities. This problem is notoriously impossible to solve in the semi-synchronous execution model when robots are deterministic, oblivious, and their ego-centered coordinate system is fully symmetric. We show that if the robots disagree on the unit distance of their coordinate system, it becomes possible to solve rendezvous and agree on a final common location, without additional assumptions.

Domaines: Calcul parallèle, distribué et partagé [cs.DC]; Géométrie algorithmique [cs.CG]; Robotique [cs.RO]

Quentin Bramas, Anissa Lamani, Sébastien Tixeuil. The Agreement Power of Disagreement. Stabilization, Safety, and Security of Distributed Systems. SSS 2021, Nov 2021, Online, Sweden. pp.273-288, ⟨10.1007/978-3-030-91081-5_18⟩. ⟨hal-03425761⟩