And Forgive & Forget: Self-stabilizing Swarms in Spite of Byzantine Robots

Yotam Ashkenazi, Shlomi Dolev, Sayaka Kamei, Fukuhito Ooshita, Koichi Wada

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


In this paper, we consider the case in which a swarm of robots collaborates in a mission, where a few of the robots behave maliciously. These malicious Byzantine robots may be temporally or constantly controlled by an adversary. The scope is synchronized full information robot operations, where a robot that does not follow the program/policy of the swarm is immediately identified and can be remembered as Byzantine. As robots may be suspected of being Byzantine due to benign temporal malfunctions, it is imperative to Forgive & Forget (F&F), otherwise, a robot cannot assume collaborative actions with any other robot in the swarm. Still, remembering for a while may facilitate a policy of surrounding, isolating and freezing the movement of the misbehaving robots, by several robots, allowing the rest to perform the swarm task with no intervention. We demonstrate the need to periodically F&F to realize swarm several tasks including patrolling/cleaning in the presence of possible Byzantine robots. The policy for achieving the task consists of blocking the movement of the Byzantine robot(s) by some of the robots, while the rest patrol/clean the plane.

Original languageEnglish
Title of host publicationStabilization, Safety, and Security of Distributed Systems - 21st International Symposium, SSS 2019,Proceedings
EditorsMohsen Ghaffari, Mikhail Nesterenko, Sébastien Tixeuil, Sara Tucci, Yukiko Yamauchi
Number of pages6
ISBN (Print)9783030349912
StatePublished - 1 Jan 2019
Event21st International Symposium on Stabilization, Safety, and Security of Distributed Systems, SSS 2019 - Pisa, Italy
Duration: 22 Oct 201925 Oct 2019

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume11914 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference21st International Symposium on Stabilization, Safety, and Security of Distributed Systems, SSS 2019

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science (all)


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