TY - GEN
T1 - Forgive & Forget
T2 - 7th International Symposium on Computing and Networking Workshops, CANDARW 2019
AU - Ashkenazi, Yotam
AU - Dolev, Shlomi
AU - Kamei, Sayaka
AU - Ooshita, Fukuhito
AU - Wada, Koichi
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/11/1
Y1 - 2019/11/1
N2 - 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 and forget, 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 forgive and forget 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. We present and use self-stabilizing (non-two faced) Byzantine pulse and clock synchronizations that are of independent interest.
AB - 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 and forget, 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 forgive and forget 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. We present and use self-stabilizing (non-two faced) Byzantine pulse and clock synchronizations that are of independent interest.
KW - Byzantine robots
KW - Distributed algorithms
KW - Self-stabilizing algorithms
UR - http://www.scopus.com/inward/record.url?scp=85078842866&partnerID=8YFLogxK
U2 - 10.1109/CANDARW.2019.00041
DO - 10.1109/CANDARW.2019.00041
M3 - Conference contribution
AN - SCOPUS:85078842866
T3 - Proceedings - 2019 7th International Symposium on Computing and Networking Workshops, CANDARW 2019
SP - 188
EP - 194
BT - Proceedings - 2019 7th International Symposium on Computing and Networking Workshops, CANDARW 2019
PB - Institute of Electrical and Electronics Engineers
Y2 - 26 November 2019 through 29 November 2019
ER -