This paper addresses gathering, a fundamental coordination problem for multi-robot
systems, for n≥ 2 asynchronous, oblivious mobile robots in the presence of f faulty robots.
Earlier work has reported that the asynchronous robots cannot gather at a point without
having some assumptions on multiplicity detection or total agreement in coordinate axis or
constant amount of persistent memory bits. This paper shows that gathering is possible by
agreeing only on one axis. Traditionally the robots have been assumed to be transparent …

In this paper, we have studied one of the fundamental coordination problems for multi robot
system, namely gathering, for n≥ 2 asynchronous, oblivious mobile robots in the presence
of f< n faulty robots. Earlier works have reported that, in general, to solve gathering problem
for asynchronous robots, many assumptions are required, like multiplicity detection or total
agreement in coordinate axis or constant amount of memory bits. However, in this paper we
have proved that gathering of asynchronous robots is possible with less number of such …