Kingston et al.'s perimeter surveillance convergence conjecture

A configuration consists of a time $t$ together with the positions, directions, and estimates of all drones at that time. A drone is left synchronized at time $t$ if thereafter it never goes to the left of its left endpoint, and right synchronized at time $t$ if thereafter it never goes to the right of its right endpoint. It is synchronized at time $t$ if it is both left and right synchronized. Kingston et al.'s conjecture. From any start configuration, all drones have correct estimates by time $3$. The conjecture concerns finite-time convergence of the deterministic perimeter-surveillance algorithm; the supplied text explains that the informal event-based arguments require formalization and that the absence of Zeno behavior should also be established. No resolution is given here.