The gathering over meeting nodes problem asks the robots to gather at one of the pre-
defined meeting nodes. The robots are deployed on the nodes of an anonymous two-
dimensional infinite grid, which has a subset of nodes marked as meeting nodes. Robots are
identical, autonomous, anonymous and oblivious. They operate under an asynchronous
scheduler. They do not have any agreement on a global coordinate system. All the initial
configurations for which the problem is deterministically unsolvable have been …

The gathering on meeting points problem requires the robots to gather at one of the pre-
defined meeting points. This paper investigates a discrete version of the problem where the
robots and meeting nodes are deployed on the nodes of an anonymous infinite square grid.
The robots are identical, autonomous, anonymous, and oblivious. They operate under an
asynchronous scheduler. Robots do not have any agreement on a global coordinate system.
Initial configurations, for which the problem is unsolvable, have been characterized. A …