The gathering over meeting nodes problem asks the robots to gather at one of the pre-defined meeting nodes. The robots are deployed on the nodes of an anonymous two-dimensional infinite grid which has a subset of nodes marked as meeting nodes. Robots are identical, autonomous, anonymous and oblivious. They operate under an asynchronous scheduler. They do not have any agreement on a global coordinate system. All the initial configurations for which the problem is deterministically unsolvable have been characterized. A deterministic distributed algorithm has been proposed to solve the problem for the remaining configurations. The efficiency of the proposed algorithm is studied in terms of the number of moves required for gathering. A lower bound concerning the total number of moves required to solve the gathering problem has been derived.

翻译：会议节点问题集会要求机器人在预设的会议节点中聚集。 机器人部署在匿名的二维无限网格的节点上, 该网点有一组节点标记为会议节点。 机器人是完全相同的、自主的、匿名的和不为人知的。 它们在一个无同步的调度器下运作。 它们没有就全球协调系统达成任何协议。 所有问题无法解决的初始配置都有特点。 已经提议了一种确定性分布算法, 以解决剩余配置的问题。 拟议的算法的效率是从收集所需动作的数量角度研究的。 已经得出了解决聚集问题所需动作总数限制较低的数据 。