“…The previous problem is related to a liveness property called fairness [16,25,34,53]. In the literature, there are many proposals to enforce fairness, but most of them cannot be adapted to our context: some proposals were designed to deal with two-way rendez-vouses only [3,5,35,49,56,57,60], but typical rendez-vouses in our context coordinate many more agents; others require to instrument the agents to build a scheduler into them [1,4,7,10,26], which can only be simulated by means of wrappers that are not generally possible to implement in low-end computing boards; some of them [4,7] cannot deal with rendezvouses that get intermittently enabled or disabled along an execution, which hinders applying them to our context; and some of them require to use shared memory [42], which is an advanced hardware feature that is not available in low-end computing boards. There are two proposals that could be adapted [30,45], but our experimental analysis confirms that they are not efficient enough in our context because they drove our experimental system into as many as 1 102.77 and 1 458.65 criticalfailure states per hour, respectively.…”