Towards formal models and languages for verifiable Multi-Robot Systems

Incorrect operations of a Multi-Robot System (MRS) may not only lead to unsatisfactory results, but can also cause economic losses and threats to safety. These threats may not always be apparent, since they may arise as unforeseen consequences of the interactions between elements of the system. This call for tools and techniques that can help in providing guarantees about MRSs behaviour. We think that, whenever possible, these guarantees should be backed up by formal proofs to complement traditional approaches based on testing and simulation. We believe that tailored linguistic support to specify MRSs is a major step towards this goal. In particular, reducing the gap between typical features of an MRS and the level of abstraction of the linguistic primitives would simplify both the specification of these systems and the verification of their properties. In this work, we review different agent-oriented languages and their features; we then consider a selection of case studies of interest and implement them useing the surveyed languages. We also evaluate and compare effectiveness of the proposed solution, considering, in particular, easiness of expressing non-trivial behaviour.Comment: Changed formattin

Building Regular Registers with Rational Malicious Servers and Anonymous Clients

The paper addresses the problem of emulating a regular register in a synchronous distributed system where clients invoking $$\mathsf{read}()$$ and $$\mathsf{write}()$$ operations are anonymous while server processes maintaining the state of the register may be compromised by rational adversaries (i.e., a server might behave as rational malicious Byzantine process). We first model our problem as a Bayesian game between a client and a rational malicious server where the equilibrium depends on the decisions of the malicious server (behave correctly and not be detected by clients vs returning a wrong register value to clients with the risk of being detected and then excluded by the computation). We prove such equilibrium exists and finally we design a protocol implementing the regular register that forces the rational malicious server to behave correctly

Byzantine Approximate Agreement on Graphs

Consider a distributed system with n processors out of which f can be Byzantine faulty. In the approximate agreement task, each processor i receives an input value x_i and has to decide on an output value y_i such that 1) the output values are in the convex hull of the non-faulty processors\u27 input values, 2) the output values are within distance d of each other. Classically, the values are assumed to be from an m-dimensional Euclidean space, where m >= 1. In this work, we study the task in a discrete setting, where input values with some structure expressible as a graph. Namely, the input values are vertices of a finite graph G and the goal is to output vertices that are within distance d of each other in G, but still remain in the graph-induced convex hull of the input values. For d=0, the task reduces to consensus and cannot be solved with a deterministic algorithm in an asynchronous system even with a single crash fault. For any d >= 1, we show that the task is solvable in asynchronous systems when G is chordal and n > (omega+1)f, where omega is the clique number of G. In addition, we give the first Byzantine-tolerant algorithm for a variant of lattice agreement. For synchronous systems, we show tight resilience bounds for the exact variants of these and related tasks over a large class of combinatorial structures

The Impact of RDMA on Agreement

Remote Direct Memory Access (RDMA) is becoming widely available in data centers. This technology allows a process to directly read and write the memory of a remote host, with a mechanism to control access permissions. In this paper, we study the fundamental power of these capabilities. We consider the well-known problem of achieving consensus despite failures, and find that RDMA can improve the inherent trade-off in distributed computing between failure resilience and performance. Specifically, we show that RDMA allows algorithms that simultaneously achieve high resilience and high performance, while traditional algorithms had to choose one or another. With Byzantine failures, we give an algorithm that only requires $n \geq 2f_P + 1$ processes (where $f_P$ is the maximum number of faulty processes) and decides in two (network) delays in common executions. With crash failures, we give an algorithm that only requires $n \geq f_P + 1$ processes and also decides in two delays. Both algorithms tolerate a minority of memory failures inherent to RDMA, and they provide safety in asynchronous systems and liveness with standard additional assumptions.Comment: Full version of PODC'19 paper, strengthened broadcast algorith

A Look at Basics of Distributed Computing *

International audienceThis paper presents concepts and basics of distributed computing which are important (at least from the author's point of view), and should be known and mastered by Master students and engineers. Those include: (a) a characterization of distributed computing (which is too much often confused with parallel computing); (b) the notion of a synchronous system and its associated notions of a local algorithm and message adversaries; (c) the notion of an asynchronous shared memory system and its associated notions of universality and progress conditions; and (d) the notion of an asynchronous message-passing system with its associated broadcast and agreement abstractions, its impossibility results, and approaches to circumvent them. Hence, the paper can be seen as a guided tour to key elements that constitute basics of distributed computing