Optimal byzantine resilient convergence in oblivious robot networks

Details Optimal byzantine resilient convergence in oblivious robot networks Optimal byzantine resilient convergence in oblivious robot networks

2009-05-25

arxiv.org/abs/0905.3967v1

Computer Science

Distributed, Parallel, and Cluster Computing

Scientific paper

Given a set of robots with arbitrary initial location and no agreement on a global coordinate system, convergence requires that all robots asymptotically approach the exact same, but unknown beforehand, location. Robots are oblivious-- they do not recall the past computations -- and are allowed to move in a one-dimensional space. Additionally, robots cannot communicate directly, instead they obtain system related information only via visual sensors. We draw a connection between the convergence problem in robot networks, and the distributed \emph{approximate agreement} problem (that requires correct processes to decide, for some constant $\epsilon$, values distance $\epsilon$ apart and within the range of initial proposed values). Surprisingly, even though specifications are similar, the convergence implementation in robot networks requires specific assumptions about synchrony and Byzantine resilience. In more details, we prove necessary and sufficient conditions for the convergence of mobile robots despite a subset of them being Byzantine (i.e. they can exhibit arbitrary behavior). Additionally, we propose a deterministic convergence algorithm for robot networks and analyze its correctness and complexity in various synchrony settings. The proposed algorithm tolerates f Byzantine robots for (2f+1)-sized robot networks in fully synchronous networks, (3f+1)-sized in semi-synchronous networks. These bounds are optimal for the class of cautious algorithms, which guarantee that correct robots always move inside the range of positions of the correct robots.

Affiliated with

Also associated with

No associations

Rating

Optimal byzantine resilient convergence in oblivious robot networks does not yet have a rating. At this time, there are no reviews or comments for this scientific paper.

If you have personal experience with Optimal byzantine resilient convergence in oblivious robot networks, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Optimal byzantine resilient convergence in oblivious robot networks will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFWR-SCP-O-294336