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


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
Number of pages14
StatePublished - 2021


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