Rendezvous of Heterogeneous Mobile Agents in Edge-weighted Networks

We introduce a variant of the deterministic rendezvous problem for a pair of heterogeneous agents operating in an undirected graph, which differ in the time they require to traverse particular edges of the graph. Each agent knows the complete topology of the graph and the initial positions of both agents. The agent also knows its own traversal times for all of the edges of the graph, but is unaware of the corresponding traversal times for the other agent. The goal of the agents is to meet on an edge or a node of the graph. In this scenario, we study the time required by the agents to meet, compared to the meeting time $T_{OPT}$ in the offline scenario in which the agents have complete knowledge about each others speed characteristics. When no additional assumptions are made, we show that rendezvous in our model can be achieved after time $O(n T_{OPT})$ in a $n$-node graph, and that such time is essentially in some cases the best possible. However, we prove that the rendezvous time can be reduced to $\Theta (T_{OPT})$ when the agents are allowed to exchange $\Theta(n)$ bits of information at the start of the rendezvous process. We then show that under some natural assumption about the traversal times of edges, the hardness of the heterogeneous rendezvous problem can be substantially decreased, both in terms of time required for rendezvous without communication, and the communication complexity of achieving rendezvous in time $\Theta (T_{OPT})$

Time Versus Cost Tradeoffs for Deterministic Rendezvous in Networks

Two mobile agents, starting from different nodes of a network at possibly different times, have to meet at the same node. This problem is known as $\mathit{rendezvous}$. Agents move in synchronous rounds. Each agent has a distinct integer label from the set $\{1,\dots,L\}$. Two main efficiency measures of rendezvous are its $\mathit{time}$ (the number of rounds until the meeting) and its $\mathit{cost}$ (the total number of edge traversals). We investigate tradeoffs between these two measures. A natural benchmark for both time and cost of rendezvous in a network is the number of edge traversals needed for visiting all nodes of the network, called the exploration time. Hence we express the time and cost of rendezvous as functions of an upper bound $E$ on the time of exploration (where $E$ and a corresponding exploration procedure are known to both agents) and of the size $L$ of the label space. We present two natural rendezvous algorithms. Algorithm $\mathtt{Cheap}$ has cost $O(E)$ (and, in fact, a version of this algorithm for the model where the agents start simultaneously has cost exactly $E$) and time $O(EL)$. Algorithm $\mathtt{Fast}$ has both time and cost $O(E\log L)$. Our main contributions are lower bounds showing that, perhaps surprisingly, these two algorithms capture the tradeoffs between time and cost of rendezvous almost tightly. We show that any deterministic rendezvous algorithm of cost asymptotically $E$ (i.e., of cost $E+o(E)$) must have time $\Omega(EL)$. On the other hand, we show that any deterministic rendezvous algorithm with time complexity $O(E\log L)$ must have cost $\Omega (E\log L)$

Rendezvous on a Line by Location-Aware Robots Despite the Presence of Byzantine Faults

A set of mobile robots is placed at points of an infinite line. The robots are equipped with GPS devices and they may communicate their positions on the line to a central authority. The collection contains an unknown subset of "spies", i.e., byzantine robots, which are indistinguishable from the non-faulty ones. The set of the non-faulty robots need to rendezvous in the shortest possible time in order to perform some task, while the byzantine robots may try to delay their rendezvous for as long as possible. The problem facing a central authority is to determine trajectories for all robots so as to minimize the time until the non-faulty robots have rendezvoused. The trajectories must be determined without knowledge of which robots are faulty. Our goal is to minimize the competitive ratio between the time required to achieve the first rendezvous of the non-faulty robots and the time required for such a rendezvous to occur under the assumption that the faulty robots are known at the start. We provide a bounded competitive ratio algorithm, where the central authority is informed only of the set of initial robot positions, without knowing which ones or how many of them are faulty. When an upper bound on the number of byzantine robots is known to the central authority, we provide algorithms with better competitive ratios. In some instances we are able to show these algorithms are optimal