In this paper, we have studied one of the fundamental coordination problems for multi robot system, namely
≥ 2 asynchronous, oblivious mobile robots in the presence of
faulty robots. Earlier works have reported that, in general, to solve gathering problem for asynchronous robots, many assumptions are required, like multiplicity detection or total agreement in coordinate axis or constant amount of memory bits. However, in this paper we have proved that gathering of asynchronous robots is possible with less number of such assumptions and even in the presence of any number of faulty robots. In our case, the robots only agree on the direction and orientation of any one axis.