Asynchronous Gathering Algorithms for Autonomous Mobile Robots with Lights

We consider a Gathering problem for n autonomous mobile robots with persistent memory called light in an asynchronous scheduler (ASYNC). It is well known that impossible when have no lights basic common models, if the system semi-synchronous (SSYNC) or even centralized (only one robot active each time). can be solved by 10 colors of ASYNC. This result obtained combining following results. (1) The simulation SSYNC k ASYNC 5k colors, and (2) 2 colors. In this paper, we improve reducing number show 3 lights. also construct algorithm any unfair using 3k where unfairness does not guarantee every activated infinitely often. Combining obtain 6 Our main from to 3.