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We propose a framework to build formal developments for robot networks using the COQ proof assistant, to state and to prove formally various properties. We focus in this paper on impossibility proofs, as it is natural to take advantage of the COQ higher order calculus to reason about algorithms as abstract objects. We present in particular formal proofs of… (More)

—We study distributed coordination among autonomous mobile robots, focussing on the problem of gathering the robots at a single location. The gathering problem has been solved previously using deterministic algorithms even for robots that are anonymous, oblivious, disoriented, and operate in the semi-synchronous ATOM model. However these solutions require… (More)

This paper introduces the RoboCast communication abstraction. The RoboCast allows a swarm of non oblivious, anonymous robots that are only endowed with visibility sensors and do not share a common coordinate system, to asynchronously exchange information. We propose a generic framework that covers a large class of asynchronous communication algorithms and… (More)

We consider the consensus problem in an n-process shared-memory distributed system when processes are anonymous, i.e., they have no identities and are programmed identically. We present Janus, a new anonymous consensus algorithm that reaches decision after O(√ n) writes in every solo execution. The set of values that can be proposed is unbounded and the… (More)

We study the convergence problem in fully asynchronous, uni-dimensional robot networks that are prone to Byzantine (i.e. malicious) failures. In these settings, oblivious anonymous robots with arbitrary initial positions are required to eventually converge to an a apriori unknown position despite a subset of them exhibiting Byzantine behavior. Our… (More)

In this paper, we consider the problem of formation of a series of geometric patterns [4] by a network of oblivious mobile robots that communicate only through vision. So far, the problem has been studied in models where robots are either assumed to have distinct identifiers or to be completely anonymous. To generalize these results and to better understand… (More)

The k-set agreement problem is a generalization of the consensus problem. Namely, assuming that each process proposes a value, every non-faulty process should decide one of the proposed values, and no more than k different values should be decided. This is a hard problem in the sense that we cannot solve it in an asynchronous system, as soon as k or more… (More)