A generic SPIN model verifies known luminous rendezvous algorithms for two robots across six synchrony models, matching literature results and generating counterexamples for failing cases.
Convergence properties of the gravitational algorithm in asynchronous robot systems
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Using Model Checking to Formally Verify Rendezvous Algorithms for Robots with Lights in Euclidean Space
A generic SPIN model verifies known luminous rendezvous algorithms for two robots across six synchrony models, matching literature results and generating counterexamples for failing cases.