Self-Stabilizing Byzantine Resilient Topology Discovery and Message Delivery

Traditional Byzantine resilient algorithms use $2f + 1$ vertex disjoint paths to ensure message delivery in the presence of up to f Byzantine nodes. The question of how these paths are identified is related to the fundamental problem of topology discovery. Distributed algorithms for topology discovery cope with a never ending task, dealing with frequent changes in the network topology and unpredictable transient faults. Therefore, algorithms for topology discovery should be self-stabilizing to ensure convergence of the topology information following any such unpredictable sequence of events. We present the first such algorithm that can cope with Byzantine nodes. Starting in an arbitrary global state, and in the presence of f Byzantine nodes, each node is eventually aware of all the other non-Byzantine nodes and their connecting communication links. Using the topology information, nodes can, for example, route messages across the network and deliver messages from one end user to another. We present the first deterministic, cryptographic-assumptions-free, self-stabilizing, Byzantine-resilient algorithms for network topology discovery and end-to-end message delivery. We also consider the task of r-neighborhood discovery for the case in which $r$ and the degree of nodes are bounded by constants. The use of r-neighborhood discovery facilitates polynomial time, communication and space solutions for the above tasks. The obtained algorithms can be used to authenticate parties, in particular during the establishment of private secrets, thus forming public key schemes that are resistant to man-in-the-middle attacks of the compromised Byzantine nodes. A polynomial and efficient end-to-end algorithm that is based on the established private secrets can be employed in between periodical re-establishments of the secrets

Algorithms for Finding Diameter Cycles of Biconnected Graphs

In this paper, we first coin a new graph theoretic problem called the diameter cycle problem with numerous applications. A longest cycle in a graph G = (V, E) is referred to as a diameter cycle of G iff the distance in G of every vertex on the cycle to the rest of the on-cycle vertices is maximal. We then present two algorithms for finding a diameter cycle of a biconnected graph. The first algorithm is an abstract intuitive algorithm that utilizes a brute-force mechanism for expanding an initial cycle by repeatedly replacing paths on the cycle with longer paths. The second algorithm is a concrete algorithm that uses fundamental cycles in the expansion process and has the time and space complexity of O(n^6) and O(n^2), respectively. To the best of our knowledge, this problem was neither defined nor addressed in the literature. The diameter cycle problem distinguishes itself from other cycle finding problems by identifying cycles that are maximally long while maximizing the distances between vertices in the cycle. Existing cycle finding algorithms such as fundamental and longest cycle algorithms do not discover cycles where the distances between vertices are maximized while also maximizing the length of the cycle

Efficient Passive Clustering and Gateways selection MANETs

Passive clustering does not employ control packets to collect topological information in ad hoc networks. In our proposal, we avoid making frequent changes in cluster architecture due to repeated election and re-election of cluster heads and gateways. Our primary objective has been to make Passive Clustering more practical by employing optimal number of gateways and reduce the number of rebroadcast packets

Notes on Theory of Distributed Systems

Notes for the Yale course CPSC 465/565 Theory of Distributed Systems

Energy aware and privacy preserving protocols for ad hoc networks with applications to disaster management

Disasters can have a serious impact on the functioning of communities and societies. Disaster management aims at providing efficient utilization of resources during pre-disaster (e.g. preparedness and prevention) and post-disaster (e.g. recovery and relief) scenarios to reduce the impact of disasters. Wireless sensors have been extensively used for early detection and prevention of disasters. However, the sensor\u27s operating environment may not always be congenial to these applications. Attackers can observe the traffic flow in the network to determine the location of the sensors and exploit it. For example, in intrusion detection systems, the information can be used to identify coverage gaps and avoid detection. Data source location privacy preservation protocols were designed in this work to address this problem. Using wireless sensors for disaster preparedness, recovery and relief operations can have high deployment costs. Making use of wireless devices (e.g. smartphones and tablets) widely available among people in the affected region is a more practical approach. Disaster preparedness involves dissemination of information among the people to make them aware of the risks they will face in the event of a disaster and how to actively prepare for them. The content is downloaded by the people on their smartphones and tablets for ubiquitous access. As these devices are primarily constrained by their available energy, this work introduces an energy-aware peer-to-peer file sharing protocol for efficient distribution of the content and maximizing the lifetime of the devices. Finally, the ability of the wireless devices to build an ad hoc network for capturing and collecting data for disaster relief and recovery operations was investigated. Specifically, novel energy-adaptive mechanisms were designed for autonomous creation of the ad hoc network, distribution of data capturing task among the devices, and collection of data with minimum delay --Abstract, page iii

Providing incentive to peer-to-peer applications

Cooperative peer-to-peer applications are designed to share the resources of participating computers for the common good of ail users. However, users do not necessarily have an incentive to donate resources to the system if they can use the system's resources for free. As commonly observed in deployed applications, this situation adversely affects the applications' performance and sometimes even their availability and usability. While traditional resource management is handled by a centralized enforcement entity, adopting similar solution raises new concerns for distributed peer-to-peer systems. This dissertation proposes to solve the incentive problem in peer-to-peer applications by designing fair sharing policies and enforcing these policies in a distributed manner. The feasibility and practicability of this approach is demonstrated through numerous applications, namely archival storage systems, streaming systems, content distribution systems, and anonymous communication systems

Collaborative autonomy in heterogeneous multi-robot systems

As autonomous mobile robots become increasingly connected and widely deployed in different domains, managing multiple robots and their interaction is key to the future of ubiquitous autonomous systems. Indeed, robots are not individual entities anymore. Instead, many robots today are deployed as part of larger fleets or in teams. The benefits of multirobot collaboration, specially in heterogeneous groups, are multiple. Significantly higher degrees of situational awareness and understanding of their environment can be achieved when robots with different operational capabilities are deployed together. Examples of this include the Perseverance rover and the Ingenuity helicopter that NASA has deployed in Mars, or the highly heterogeneous robot teams that explored caves and other complex environments during the last DARPA Sub-T competition. This thesis delves into the wide topic of collaborative autonomy in multi-robot systems, encompassing some of the key elements required for achieving robust collaboration: solving collaborative decision-making problems; securing their operation, management and interaction; providing means for autonomous coordination in space and accurate global or relative state estimation; and achieving collaborative situational awareness through distributed perception and cooperative planning. The thesis covers novel formation control algorithms, and new ways to achieve accurate absolute or relative localization within multi-robot systems. It also explores the potential of distributed ledger technologies as an underlying framework to achieve collaborative decision-making in distributed robotic systems. Throughout the thesis, I introduce novel approaches to utilizing cryptographic elements and blockchain technology for securing the operation of autonomous robots, showing that sensor data and mission instructions can be validated in an end-to-end manner. I then shift the focus to localization and coordination, studying ultra-wideband (UWB) radios and their potential. I show how UWB-based ranging and localization can enable aerial robots to operate in GNSS-denied environments, with a study of the constraints and limitations. I also study the potential of UWB-based relative localization between aerial and ground robots for more accurate positioning in areas where GNSS signals degrade. In terms of coordination, I introduce two new algorithms for formation control that require zero to minimal communication, if enough degree of awareness of neighbor robots is available. These algorithms are validated in simulation and real-world experiments. The thesis concludes with the integration of a new approach to cooperative path planning algorithms and UWB-based relative localization for dense scene reconstruction using lidar and vision sensors in ground and aerial robots

Topics in Distributed Algorithms: On Wireless Networks, Distributed Storage and Streaming

Distributed algorithms are executed on a set of computational instances. Werefer to these instances as nodes. Nodes are runningconcurrently and are independent from each other. Furthermore, they have their own instructions and information. In this context, the challenges are to show thatthe algorithm is correct, regardless of computational, or communication delaysand to show bounds on the usage of communication.We are especially interested the behaviour after transient faults and underthe existence of Byzantine nodes.This thesis discusses fundamental communication models for distributed algorithms. These models are implementing abstract communication methods. First, we address medium access control for a wireless medium with guaranteeson the communication delay. We discuss time division multiple access(TDMA) protocols for ad-hoc networks and we introduce an algorithm that creates aTDMA schedule without using external references for localisation, or time. We justify our algorithm by experimental results.The second topic is the emulation of shared memory on message passingnetworks. Both, shared memory and message passing are basic interprocessorcommunication models for distributed algorithms. We are providing a way ofemulating shared memory on top of an existing message passing network underthe presence of data corruption and stop-failed nodes. Additionally, we ensurethe privacy of the data that is stored in the shared memory. The third topic looks into streaming algorithms and optimisation. We study the problem of sorting a stream ofvehicles on a highway with severallanes so that each vehicle reaches its target lane. We look into optimality interms of minimising the number of move operations, as well as, minimising the length of the output stream. We present an exact algorithm for the case oftwo lanes and show that NP-Hardness for a increasing number of lanes