Compatibility of convergence algorithms for autonomous mobile robots

We investigate autonomous mobile robots in the Euclidean plane. A robot has a function called target function to decide the destination from the robots' positions, and operates in Look-Compute-Move cycles, i.e., identifies the robots' positions, computes the destination by the target function, and then moves there. Robots may have different target functions. Let $\Phi$ and $\Pi $ be a set of target functions and a problem, respectively. If the robots whose target functions are chosen from $\Phi$ always solve $\Pi$, we say that $\Phi$ is compatible with respect to $\Pi$. If $\Phi$ is compatible with respect to $\Pi$, every target function $\phi \in \Phi$ is an algorithm for $\Pi$ (in the conventional sense). Note that even if both $\phi$ and $\phi'$ are algorithms for $\Pi$, $\{ \phi, \phi' \}$ may not be compatible with respect to $\Pi$. From the view point of compatibility, we investigate the convergence, the fault tolerant ($n,f$)-convergence (FC($f$)), the fault tolerant ($n,f$)-convergence to $f$ points (FC($f$)-PO), the fault tolerant ($n,f$)-convergence to a convex $f$-gon (FC($f$)-CP), and the gathering problems, assuming crash failures. As a result, we see that these problems are classified into three groups: The convergence, the FC(1), the FC(1)-PO, and the FC($f$)-CP compose the first group: Every set of target functions which always shrink the convex hull of a configuration is compatible. The second group is composed of the gathering and the FC($f$)-PO for $f \geq 2$: No set of target functions which always shrink the convex hull of a configuration is compatible. The third group, the FC($f$) for $f \geq 2$, is placed in between. Thus, the FC(1) and the FC(2), the FC(1)-PO and the FC(2)-PO, and the FC(2) and the FC(2)-PO are respectively in different groups, despite that the FC(1) and the FC(1)-PO are in the first group.