Location Functions for Self-stabilizing Byzantine Tolerant Swarms.

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

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

1 Scopus citations


This paper proposes a novel framework to realize self-stabilizing Byzantine tolerant swarms. In this framework, non-Byzantine robots execute tasks while satisfying location functions, that is, the robots use a policy for their location choice, which restricts their location to satisfy the functions. We give a general Byzantine-resilient self-stabilizing algorithm based on the location function, and then provide an efficient implementation of the self-stabilizing algorithms for special classes of tasks, called polynomial-based tasks and shape-based tasks. We also demonstrate the usefulness of the proposed framework by implementing typical tasks of robots
Original languageEnglish
Title of host publicationSSS
EditorsColette Johnen, Elad Michael Schiller, Stefan Schmid
PublisherSpringer Science and Business Media Deutschland GmbH
Number of pages14
ISBN (Electronic)978-3-030-91081-5
ISBN (Print)9783030910808
StatePublished - 9 Nov 2021
Event23rd International Symposium on Stabilization, Safety, and Security of Distributed Systems, SSS 2021 - Virtual, Online
Duration: 17 Nov 202120 Nov 2021

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume13046 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference23rd International Symposium on Stabilization, Safety, and Security of Distributed Systems, SSS 2021
CityVirtual, Online


  • Byzantine faults
  • Mobile robots
  • Self-stabilization

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science (all)


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