5,241 research outputs found
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 , values distance
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
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
Deterministic Consensus Algorithm with Linear Per-Bit Complexity
In this report, building on the deterministic multi-valued one-to-many
Byzantine agreement (broadcast) algorithm in our recent technical report [2],
we introduce a deterministic multi-valued all-to-all Byzantine agreement
algorithm (consensus), with linear complexity per bit agreed upon. The
discussion in this note is not self-contained, and relies heavily on the
material in [2] - please refer to [2] for the necessary background
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