Location functions for self-stabilizing byzantine tolerant swarms

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. Then we 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.