Stand up Indulgent Gathering

We consider a swarm of mobile robots evolving in bidimensional Euclidean space. study the stronger variant crash-tolerant gathering: if no robot crashes, have to meet at same arbitrary location, not known beforehand, finite time; one or several crash remaining correct gather location rescue them. Motivated by impossibility results semi-synchronous setting, we present first solution problem for fully synchronous setting that operates vanilla Look-Compute-Move model with additional hypotheses: are oblivious, disoriented, multiplicity detection capacity, and may start from positions (including those points). furthermore show time is proportional initial maximum distance between robots.