Byzantine Convergence in Robots Networks: The Price of Asynchrony

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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https://hal.inria.fr/inria-00408881
Contributor : Zohir Bouzid <>
Submitted on : Tuesday, August 4, 2009 - 1:11:27 AM
Last modification on : Thursday, March 21, 2019 - 1:20:06 PM
Long-term archiving on : Tuesday, June 15, 2010 - 7:26:52 PM

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  • HAL Id : inria-00408881, version 1
  • ARXIV : 0908.0390

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Zohir Bouzid, Maria Potop-Butucaru, Sébastien Tixeuil. Byzantine Convergence in Robots Networks: The Price of Asynchrony. [Technical Report] 2009, pp.22. ⟨inria-00408881⟩

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