Neighborhood Mutual Remainder: Self-Stabilizing Implementation of Look-Compute-Move Robots (Extended Abstract)

Shlomi Dolev, Sayaka Kamei, Yoshiaki Katayama, Fukuhito Ooshita, Koichi Wada

Research output: Working paper/PreprintPreprint


Local mutual exclusion guarantees that no two neighboring processes
enter a critical section at the same time while satisfying both mutual
exclusion and no starvation properties. On the other hand, processes may
want to execute some operation simultaneously with the neighbors. Of
course, we can use a globally synchronized clock to achieve the task but it
is very expensive to realize it in a distributed system in general.
In this paper, we define a new concept neighborhood mutual remainder.
A distributed algorithm that satisfies the neighborhood mutual remainder
requirement should satisfy global fairness, l-exclusion and repeated local
rendezvous requirements. Global fairness is satisfied when each process
(that requests to enter the critical section infinitely often) executes the
critical section infinitely often, l-exclusion is satisfied when at most l
neighboring processes enter the critical section at the same time, and
repeated local rendezvous is satisfied when for each process infinitely often
no process in the closed neighborhood is in the critical or trying section.
We first formalize the concept of neighborhood mutual remainder,
and give a simple self-stabilizing algorithm to demonstrate the design
paradigm to achieve neighborhood mutual remainder. We also present two
applications of neighborhood mutual remainder to a Look-Compute-Move
robot system. One is for implementing a move-atomic property and the
other is for implementing FSYNC scheduler, where robots possess an
independent clock that is advanced in the same speed. These are the first
self-stabilizing implementations of the LCM synchronization
Original languageEnglish GB
StatePublished - 2019

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