Optimal byzantine resilient convergence in oblivious robot networks

Given a set of robots with arbitrary initial location and no agreement on a global coordinate system, convergence requires that all robots asymptotically approach the exact same, but unknown beforehand, location. Robots are oblivious-- they do not recall the past computations -- and are allowed to move in a one-dimensional space. Additionally, robots cannot communicate directly, instead they obtain system related information only via visual sensors. We draw a connection between the convergence problem in robot networks, and the distributed \emph{approximate agreement} problem (that requires correct processes to decide, for some constant $\epsilon$, values distance $\epsilon$ apart and within the range of initial proposed values). Surprisingly, even though specifications are similar, the convergence implementation in robot networks requires specific assumptions about synchrony and Byzantine resilience. In more details, we prove necessary and sufficient conditions for the convergence of mobile robots despite a subset of them being Byzantine (i.e. they can exhibit arbitrary behavior). Additionally, we propose a deterministic convergence algorithm for robot networks and analyze its correctness and complexity in various synchrony settings. The proposed algorithm tolerates f Byzantine robots for (2f+1)-sized robot networks in fully synchronous networks, (3f+1)-sized in semi-synchronous networks. These bounds are optimal for the class of cautious algorithms, which guarantee that correct robots always move inside the range of positions of the correct robots

A Quality and Cost Approach for Comparison of Small-World Networks

We propose an approach based on analysis of cost-quality tradeoffs for comparison of efficiency of various algorithms for small-world network construction. A number of both known in the literature and original algorithms for complex small-world networks construction are shortly reviewed and compared. The networks constructed on the basis of these algorithms have basic structure of 1D regular lattice with additional shortcuts providing the small-world properties. It is shown that networks proposed in this work have the best cost-quality ratio in the considered class.Comment: 27 pages, 16 figures, 1 tabl

Online unit clustering in higher dimensions

We revisit the online Unit Clustering and Unit Covering problems in higher dimensions: Given a set of $n$ points in a metric space, that arrive one by one, Unit Clustering asks to partition the points into the minimum number of clusters (subsets) of diameter at most one; while Unit Covering asks to cover all points by the minimum number of balls of unit radius. In this paper, we work in $\mathbb{R}^d$ using the $L_\infty$ norm. We show that the competitive ratio of any online algorithm (deterministic or randomized) for Unit Clustering must depend on the dimension $d$. We also give a randomized online algorithm with competitive ratio $O(d^2)$ for Unit Clustering}of integer points (i.e., points in $\mathbb{Z}^d$, $d\in \mathbb{N}$, under $L_{\infty}$ norm). We show that the competitive ratio of any deterministic online algorithm for Unit Covering is at least $2^d$. This ratio is the best possible, as it can be attained by a simple deterministic algorithm that assigns points to a predefined set of unit cubes. We complement these results with some additional lower bounds for related problems in higher dimensions.Comment: 15 pages, 4 figures. A preliminary version appeared in the Proceedings of the 15th Workshop on Approximation and Online Algorithms (WAOA 2017

Deterministic Sampling and Range Counting in Geometric Data Streams

We present memory-efficient deterministic algorithms for constructing epsilon-nets and epsilon-approximations of streams of geometric data. Unlike probabilistic approaches, these deterministic samples provide guaranteed bounds on their approximation factors. We show how our deterministic samples can be used to answer approximate online iceberg geometric queries on data streams. We use these techniques to approximate several robust statistics of geometric data streams, including Tukey depth, simplicial depth, regression depth, the Thiel-Sen estimator, and the least median of squares. Our algorithms use only a polylogarithmic amount of memory, provided the desired approximation factors are inverse-polylogarithmic. We also include a lower bound for non-iceberg geometric queries.Comment: 12 pages, 1 figur

Distributed Deterministic Broadcasting in Uniform-Power Ad Hoc Wireless Networks

Development of many futuristic technologies, such as MANET, VANET, iThings, nano-devices, depend on efficient distributed communication protocols in multi-hop ad hoc networks. A vast majority of research in this area focus on design heuristic protocols, and analyze their performance by simulations on networks generated randomly or obtained in practical measurements of some (usually small-size) wireless networks. %some library. Moreover, they often assume access to truly random sources, which is often not reasonable in case of wireless devices. In this work we use a formal framework to study the problem of broadcasting and its time complexity in any two dimensional Euclidean wireless network with uniform transmission powers. For the analysis, we consider two popular models of ad hoc networks based on the Signal-to-Interference-and-Noise Ratio (SINR): one with opportunistic links, and the other with randomly disturbed SINR. In the former model, we show that one of our algorithms accomplishes broadcasting in $O(D\log^2 n)$ rounds, where $n$ is the number of nodes and $D$ is the diameter of the network. If nodes know a priori the granularity $g$ of the network, i.e., the inverse of the maximum transmission range over the minimum distance between any two stations, a modification of this algorithm accomplishes broadcasting in $O(D\log g)$ rounds. Finally, we modify both algorithms to make them efficient in the latter model with randomly disturbed SINR, with only logarithmic growth of performance. Ours are the first provably efficient and well-scalable, under the two models, distributed deterministic solutions for the broadcast task.Comment: arXiv admin note: substantial text overlap with arXiv:1207.673