When to agents meet, they have to decide if they will both become cartographers or not. This is decided by the agent with Priority.
But, the Subordinate agent (the agent without priority) might move away and continue exploring, before it is told that it should now form a cartographer pair. (This messes up the step counter).
Potential Solution: The decision about becoming a cartographer should become atomic for both agents, the Sub-Agent should (effectively) be blocked until the Priority-Agent tells it its new role. When meeting, and deciding to be a cartographer or not, the Sub-Agent should wait to be told its new role (Explorer or Cartographer) before deciding new actions. This could possibly be achieved by changing role to some 'null' role or by ordering of messages.
When to agents meet, they have to decide if they will both become cartographers or not. This is decided by the agent with Priority.
But, the Subordinate agent (the agent without priority) might move away and continue exploring, before it is told that it should now form a cartographer pair. (This messes up the step counter).
Potential Solution: The decision about becoming a cartographer should become atomic for both agents, the Sub-Agent should (effectively) be blocked until the Priority-Agent tells it its new role. When meeting, and deciding to be a cartographer or not, the Sub-Agent should wait to be told its new role (Explorer or Cartographer) before deciding new actions. This could possibly be achieved by changing role to some 'null' role or by ordering of messages.