Byzantine Convergence in Robots Networks: The Price of Asynchrony

Zohir Bouzid 1 Maria Gradinariu Potop-Butucaru 2 Sébastien Tixeuil 1
1 NPA - Networks and Performance Analysis
LIP6 - Laboratoire d'Informatique de Paris 6
2 Regal - Large-Scale Distributed Systems and Applications
LIP6 - Laboratoire d'Informatique de Paris 6, Inria Paris-Rocquencourt
Abstract : We study the convergence problem in fully asynchronous, uni-dimensional robot networks that are prone to Byzantine (i.e. malicious) failures. In these settings, oblivious anonymous robots with arbitrary initial positions are required to eventually converge to an a apriori unknown position despite a subset of them exhibiting Byzantine behavior. Our contribution is twofold. We propose a deterministic algorithm that solves the problem in the most generic settings: fully asynchronous robots that operate in the non-atomic CORDA model. Our algorithm provides convergence in 5f+1-sized networks where f is the upper bound on the number of Byzantine robots. Additionally, we prove that 5f+1 is a lower bound whenever robot scheduling is fully asynchronous. This constrasts with previous results in partially synchronous robots networks, where 3f+1 robots are necessary and sufficient.
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Conference papers
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https://hal.archives-ouvertes.fr/hal-01295181
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Submitted on : Wednesday, March 30, 2016 - 3:02:46 PM
Last modification on : Thursday, March 21, 2019 - 1:06:44 PM

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Zohir Bouzid, Maria Gradinariu Potop-Butucaru, Sébastien Tixeuil. Byzantine Convergence in Robots Networks: The Price of Asynchrony. OPODIS 2009, Dec 2009, Nimes, France. pp.54-70, ⟨10.1007/978-3-642-10877-8_7⟩. ⟨hal-01295181⟩

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