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Leader election in programmable matter

Anonymous constant-memory particles must elect exactly one leader, which most shape-formation algorithms need first.

Problem statement and measuresexpand

A connected configuration (the set of nodes occupied by particles) of \(n\) anonymous particles (initially contracted) must reach a state in which exactly one particle is the leader and all others know they are not. Time is in asynchronous rounds; \(L_{out}\) is the length of the outer boundary and \(D\) the diameter of the configuration.

Measures: Time, asynchronous rounds; Moves, total expansions and contractions (work).

Stationary, reconfigurable circuits, synchronous, randomized

verified
Time: unknownMoves: tight

With reconfigurable circuits, stationary particles acting in synchronous rounds elect a unique leader in \(O(\log n)\) rounds with high probability, holes allowed, by coin-flip tournaments on a circuit that joins all particles.

Assumed (added on the last edge are outlined)

+Memoryconstant memory and local communication+Schedulersynchronous: every particle acts in every round+Communicationreconfigurable circuits+Randomnessrandomized

Not assumed

Orientationno common orientation and no chiralityMovementstationary: particles never moveInitial shapeconnected, holes allowedConnectivity during executionthe system must stay connected
Formal definitions of this setting
Memory: constant memory
Each particle has \(O(1)\) bits of persistent memory and reads or writes neighbours' memory.
Scheduler: synchronous
Time proceeds in rounds; in every round every particle executes one look–compute–act cycle, and what a particle sends in a round is received in the next Feldmann et al. 2022. It is an alternative to the sequential scheduler: one activates every particle at once, the other one at a time.
Orientation: no orientation
Each particle labels its six incident directions in its own clockwise or counter-clockwise order, starting anywhere.
Movement: stationary
No particle ever expands or contracts; the configuration is fixed and only states change.
Communication: circuits
Each particle has a constant number of pins on every incident edge, shared with the neighbour across that edge, and in every round it links its pins into groups. A circuit is a connected component of the resulting graph on pins. A particle may send a beep on any of its circuits; every particle on the circuit receives it in the next round, without learning who sent it or how many did Feldmann et al. 2022. Local communication remains available.
Randomness: randomized
Particles flip fair coins; guarantees hold with high probability or in expectation.
Initial shape: holes allowed
The initial set of occupied nodes induces a connected subgraph; it may enclose empty regions.
Connectivity during execution: stays connected
At every time the occupied nodes induce a connected subgraph.

Statement for this variant

Particles do not move, act in synchronous rounds and also communicate through reconfigurable circuits: a beep sent on a circuit reaches every particle on it in the next round. The configuration is connected and may have holes; particles share no orientation.

What is known

Time · asynchronous rounds
unknown
No lower bound for circuits in the papers read.
lower boundnone known
introductory—
current best
\(O(\log n)\)
with high probability; Monte Carlo: with small probability more than one candidate remainsone pin per edge suffices; no common chirality
Moves · total expansions and contractions (work)
tight
No moves.
lower boundnone known
introductory—
current best—

Results, in order of publication

Time \(O(\log n)\)
with high probability; Monte Carlo: with small probability more than one candidate remainsone pin per edge suffices; no common chirality

Introductory and current best (Theorem 1.1 and Section 1.2.1 of the arXiv version): all particles link their pins into one global circuit. In each step every candidate flips a coin and beeps on the circuit in the first of two rounds if it flipped heads, in the second if tails; if some candidate beeped in the first round, those that beeped in the second drop out. A second tournament run in parallel, repeated a constant number of times, ends the election after \(\Theta(\log n)\) rounds. The scheme adapts the beeping-model election of Gilbert and Newport, as the authors report.

Time \(O(\log n)\)
with high probability; Las Vegas: never two leadersstated in Section 1 and Table 1, not as a theorem; the proofs are sketches

Candidates are roots of trees that merge by coin flips, and a candidate stops only after checking, bit by bit, that no edge joins two trees, so the algorithm never elects two leaders. With noisy circuits, on which each particle hears a beep only with probability \(1-\varepsilon\) for a constant \(\varepsilon \in (0,1)\) while communication between neighbours stays reliable, it takes \(O(\sqrt{\log n}\,\log n)\) rounds with high probability (Theorem 1); once a leader exists, any stationary algorithm for noiseless circuits runs with a factor \(O(\sqrt{\log n})\) of overhead (Theorem 2). It works on the triangular lattice and on the face-centred cubic lattice in three dimensions. A brief announcement.

Open questions

  1. Give a lower bound on the rounds needed to elect a leader with circuits; neither paper read proves one.

Notes

Without circuits information travels one particle at a time, so a leader cannot be elected faster than the diameter of the configuration allows Feldmann et al. 2022; circuits remove this bound. Warner and Scheideler's check never looks for the boundary of a hole, so holes are allowed Warner & Scheideler 2026b. Checked against the model section, Section 1.2.1 and Theorem 1.1 of the arXiv version of Feldmann et al. 2022 (the proof in Appendix B was not checked line by line) and the full text of Warner & Scheideler 2026b.

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