Spectral contraction of the one-directional token transfer map

Prove that, for every slowdown factor <\alpha<1, the damped transfer map \(M_\alpha=A^{-1}B_\alpha\) associated with a single one-directional token has spectral radius \(\rho(M_\alpha)<1\), thereby establishing convergence \(u\to0\) of the centered collision-abscissa dynamics when \(M_\alpha\) is repeatedly applied.

Background

For the undamped heterogeneous bucket-brigade system, the collision-abscissa update is represented in centered coordinates by u′=Muu'=Mu, where MM is a GG-isometry. This preserves a quadratic energy and prevents convergence to the velocity-proportional equilibrium unless the system starts there.

The one-directional token modifies the first collision relation and yields the transfer map Mα=A−1BαM_\alpha=A^{-1}B_\alpha. The paper proves only determinant contraction, namely ∣det⁡Mα∣<1|\det M_\alpha|<1 for 0<α<10<\alpha<1. Determinant contraction alone does not imply that every eigenvalue lies strictly inside the unit disk, so a full spectral contraction argument is needed to establish convergence. The authors leave that proof unresolved and formulate spectral contraction as a conjecture supported by simulations.

References

The main convergence result requires a full spectral contraction proof, which we leave as an open problem in the theoretical part. In \Cref{sec:simulations}, we present simulation results that strongly support the following conjecture. The damped transfer map M_\alpha is repeatedly applied and its spectral radius satisfies \rho(M_\alpha)<1, such that u\to 0 for 0<\alpha<1. A formal contraction proof remains open but does not impede practical deployment (\Cref{sec:applications,sec:simulations}).

— Pass the Bucket: Efficient, Robust, Local Load Balancing for Teams of Heterogeneous Robots  (2608.27085 - Wallner et al., 27 Aug 2026) in Section III, subsection “Damped System: Token Mechanics,” subsubsection “Single, one-directional token (Token-1),” immediately before and at Conjecture (Spectral contraction), Eq. (conj:spectral)