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

1 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publicationProceedings - 2019 7th International Symposium on Computing and Networking Workshops, CANDARW 2019
PublisherInstitute of Electrical and Electronics Engineers
Pages188-194
Number of pages7
ISBN (Electronic)9781728152684
DOIs
StatePublished - 1 Nov 2019
Event7th International Symposium on Computing and Networking Workshops, CANDARW 2019 - Nagasaki, Japan
Duration: 26 Nov 201929 Nov 2019

Publication series

NameProceedings - 2019 7th International Symposium on Computing and Networking Workshops, CANDARW 2019

Conference

Conference7th International Symposium on Computing and Networking Workshops, CANDARW 2019
Country/TerritoryJapan
CityNagasaki
Period26/11/1929/11/19

Keywords

  • Byzantine robots
  • Distributed algorithms
  • Self-stabilizing algorithms

ASJC Scopus subject areas

  • Hardware and Architecture
  • Information Systems
  • Artificial Intelligence
  • Computer Networks and Communications

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