• Corpus ID: 11900657

The BG-simulation for Byzantine Mobile Robots

@article{Izumi2011TheBF,
  title={The BG-simulation for Byzantine Mobile Robots},
  author={Taisuke Izumi and Zohir Bouzid and S{\'e}bastien Tixeuil and Koichi Wada},
  journal={ArXiv},
  year={2011},
  volume={abs/1106.0113}
}
This paper investigates the task solvability of mobile robot systems subject to Byzantine faults. We first consider the gathering problem, which requires all robots to meet in finite time at a non-predefined location. It is known that the solvability of Byzantine gathering strongly depends on a number of system attributes, such as synchrony, the number of Byzantine robots, scheduling strategy, obliviousness, orientation of local coordinate systems and so on. However, the complete… 

Feasibility of Polynomial-Time Randomized Gathering for Oblivious Mobile Robots

This paper newly introduces two weaker variants of multiplicity detection, called local-strong and local-weak multiplicity, and investigates whether those capabilities permit a gathering algorithm with polynomial expected time or not, and shows that any algorithm only assuming local- Weak multiplier detection takes exponential number of rounds in expectation.

A Unifying Approach to Efficient (Near)-Gathering of Disoriented Robots with Limited Visibility

A key property of efficient Gathering protocols is formalized and used to obtain the first protocol to solve Uniform Circle Formation for oblivious, disoriented robots with limited visibility and the first proven runtime bound.

Brief Announcement: Reaching Approximate Byzantine Consensus in Partially-Connected Mobile Networks

A novel sufficient and necessary condition to guarantee the final convergence of the consensus protocol is proposed and shows that the proposed condition can be satisfied if the total number of nodes is greater than 3f+1.

Fault-Tolerant Mobile Robots

This chapter surveys crash tolerance, self-stabilization, Byzantine fault-tolereance, and resilience to inaccuracies for the main building blocks in mobile robots networks: gathering, convergence,

References

SHOWING 1-10 OF 22 REFERENCES

Using Eventually Consistent Compasses to Gather Oblivious Mobile Robots with Limited Visibility

An algorithm is given that solves the problem of gathering oblivious mobile robots with limited visibility in a semi-synchronous model in finite time in a system where compasses are unstable for some arbitrary long periods, provided that they stabilize eventually.

Fault-Tolerant and Self-stabilizing Mobile Robots Gathering

This work considers a larger set of scheduling strategies, such as bounded schedulers, and derive interesting lower bounds on these Schedulers and extends the study of deterministic gathering feasibility under different assumptions related to synchrony and faults to both fault-free and fault-prone environments.

Gathering Autonomous Mobile Robots with Dynamic Compasses: An Optimal Result

It is proved that for any ϕ ≥ π/2, there is no algorithm to gather two robots with ϕ-absolute error dynamic compasses, and the proposed algorithm is the first one that considers both inaccurate compass models and more than two robots.

Optimal Byzantine-resilient convergence in uni-dimensional robot networks

Distributed Anonymous Mobile Robots: Formation of Geometric Patterns

This paper investigates a number of formation problems of geometric patterns in the plane by the robots and presents algorithms for converging the Robots to a single point and moving the robots to asingle point in finite steps.

Byzantine Convergence in Robot Networks: The Price of Asynchrony

This work proposes a deterministic algorithm that solves the convergence problem in fully asynchronous, uni-dimensional robot networks that are prone to Byzantine failures and proves that 5f + 1 is a lower bound whenever robot scheduling is fully asynchronous.

Gathering Problem of Two Asynchronous Mobile Robots with Semi-dynamic Compasses

This paper improves the limit of difference to i¾?/3.5 with the fully asynchronous robot model CORDA and Configurations and executions of robot systems for CORDA with dynamic compasses are formalised.

Distributed memoryless point convergence algorithm for mobile robots with limited visibility

The results of computer simulation under a more realistic model give convincing indication that the algorithm, if implemented on physical robots, will be robust against sensor and control error.

On the Feasibility of Gathering by Autonomous Mobile Robots

This paper shows that this simple task to gather in a position of the plane not fixed in advance cannot be in general accomplished by the considered system of robots.

Fault-tolerant gathering algorithms for autonomous mobile robots

It is shown that in an asynchronous environment it is impossible to perform a successful gathering in a 3-robot system with one Byzantine failure, and an algorithm tolerant against one crash-faulty robot in a system of three or more robots is presented.