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

Distributed operating systems

In the past five years, distributed operating systems research has gone through a consolidation phase. On a large number of design issues there is now considerable consensus between different research groups.\ud \ud In this paper, an overview of recent research in distributed systems is given. In turn, the paper discusses overall system structure, protection issues, file system designs, problems and solutions for fault tolerance and a mechanism that is rapidly becoming very important for efficient distributed systems design: hints.\ud \ud An attempt was made to provide sufficient references to interesting research projects for the reader to find material for more detailed study

Complexity of Multi-Value Byzantine Agreement

In this paper, we consider the problem of maximizing the throughput of Byzantine agreement, given that the sum capacity of all links in between nodes in the system is finite. We have proposed a highly efficient Byzantine agreement algorithm on values of length l>1 bits. This algorithm uses error detecting network codes to ensure that fault-free nodes will never disagree, and routing scheme that is adaptive to the result of error detection. Our algorithm has a bit complexity of n(n-1)l/(n-t), which leads to a linear cost (O(n)) per bit agreed upon, and overcomes the quadratic lower bound (Omega(n^2)) in the literature. Such linear per bit complexity has only been achieved in the literature by allowing a positive probability of error. Our algorithm achieves the linear per bit complexity while guaranteeing agreement is achieved correctly even in the worst case. We also conjecture that our algorithm can be used to achieve agreement throughput arbitrarily close to the agreement capacity of a network, when the sum capacity is given