Stand up indulgent gathering (Q5918567)

The authors answer positively to the feasibility of SUIG (stand up indulgent gathering) in mobile robotic swarms. The approach is constructive, as an explicit algorithm is given to solve the SUIG in the FSYNC (fully synchronous) execution model, using only oblivious robots with arbitrary local coordinate systems (there is no agreement on any direction, chirality, or unit distance), without relying on multiplicity detection (robots are unaware of the number of robots, or approximation of it, on any occupied location). Furthermore, no assumptions are made about the initial positions of the robots. The solution is self-stabilizing (the initial configuration may include multiplicity points, and even be bivalent), does not rely on extra assumptions such as multiplicity detection capacity, a common direction, orientation, or chirality etc., and its running time is proportional to the maximum initial distance between robots.