Anonymous Obstruction-free (n,k)(n,k)-Set Agreement with n−k+1n-k+1 Atomic Read/Write Registers

The $k$-set agreement problem is a generalization of the consensus problem. Namely, assuming each process proposes a value, each non-faulty process has to decide a value such that each decided value was proposed, and no more than $k$ different values are decided. This is a hard problem in the sense that it cannot be solved in asynchronous systems as soon as $k$ or more processes may crash. One way to circumvent this impossibility consists in weakening its termination property, requiring that a process terminates (decides) only if it executes alone during a long enough period. This is the well-known obstruction-freedom progress condition. Considering a system of $n$ {\it anonymous asynchronous} processes, which communicate through atomic {\it read/write registers only}, and where {\it any number of processes may crash}, this paper addresses and solves the challenging open problem of designing an obstruction-free $k$-set agreement algorithm with $(n-k+1)$ atomic registers only. From a shared memory cost point of view, this algorithm is the best algorithm known so far, thereby establishing a new upper bound on the number of registers needed to solve the problem (its gain is $(n-k)$ with respect to the previous upper bound). The algorithm is then extended to address the repeated version of $(n,k)$-set agreement. As it is optimal in the number of atomic read/write registers, this algorithm closes the gap on previously established lower/upper bounds for both the anonymous and non-anonymous versions of the repeated $(n,k)$-set agreement problem. Finally, for 1 \leq x\leq k \textless{} n, a generalization suited to $x$-obstruction-freedom is also described, which requires $(n-k+x)$ atomic registers only

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

RoboCast: Asynchronous Communication in Robot Networks

This paper introduces the \emph{RoboCast} communication abstraction. The RoboCast allows a swarm of non oblivious, anonymous robots that are only endowed with visibility sensors and do not share a common coordinate system, to asynchronously exchange information. We propose a generic framework that covers a large class of asynchronous communication algorithms and show how our framework can be used to implement fundamental building blocks in robot networks such as gathering or stigmergy. In more details, we propose a RoboCast algorithm that allows robots to broadcast their local coordinate systems to each others. Our algorithm is further refined with a local collision avoidance scheme. Then, using the RoboCast primitive, we propose algorithms for deterministic asynchronous gathering and binary information exchange

Certified Impossibility Results for Byzantine-Tolerant Mobile Robots

We propose a framework to build formal developments for robot networks using the COQ proof assistant, to state and to prove formally various properties. We focus in this paper on impossibility proofs, as it is natural to take advantage of the COQ higher order calculus to reason about algorithms as abstract objects. We present in particular formal proofs of two impossibility results forconvergence of oblivious mobile robots if respectively more than one half and more than one third of the robots exhibit Byzantine failures, starting from the original theorems by Bouzid et al.. Thanks to our formalization, the corresponding COQ developments are quite compact. To our knowledge, these are the first certified (in the sense of formally proved) impossibility results for robot networks

Brief Announcement: Anonymous Obstruction-free (n, k)-Set Agreement with n−k+1 Atomic Read/Write Registers

International audienceThis paper presents an obstruction-free solution to the (n,k)-set agreement problem in an asynchronous anonymous read/write system using solely (n − k + 1) registers. We then extend this algorithm into (i) a space-optimal solution for the repeated version of (n, k)-set agreement, and (ii) an x-obstruction- free solution using (n − k + x) atomic registers (with 1 ≤ x ≤ k < n)

Certified Impossibility Results for Byzantine-Tolerant Mobile Robots

We propose a framework to build formal developments for robot networks using the COQ proof assistant, to state and to prove formally various properties. We focus in this paper on impossibility proofs, as it is natural to take advantage of the COQ higher order calculus to reason about algorithms as abstract objects. We present in particular formal proofs of two impossibility results forconvergence of oblivious mobile robots if respectively more than one half and more than one third of the robots exhibit Byzantine failures, starting from the original theorems by Bouzid et al.. Thanks to our formalization, the corresponding COQ developments are quite compact. To our knowledge, these are the first certified (in the sense of formally proved) impossibility results for robot networks

(anti−Ω x ×Σz)-based k-set Agreement Algorithms

This paper considers the k-set agreement problem in a crash-prone asynchronous message passing system enriched with failure detectors. Two classes of failure detectors have been previously identified as necessary to solve asynchronous k-set agreement: the class anti-leader anti−Ω k and the weak-quorum class Σk. The paper investigates the families of failure detector (anti−Ω x)1≤x≤n and (Σz)1≤z≤n. It characterizesin an n processes system equipped with failure detectors anti−Ω x and Σz for which values of k,x and z k-set-agreement can be solved. While doing so, the paper (1) disproves previous conjunctures about the weakest failure detector to solve k-set-agreement in the asynchronous message passing model and, (2) introduces the first indulgent algorithm that tolerates a majority of processes failures. Keywords: Set-agreement, asynchrony, failure detectors, indulgent algorithms.

Parallel Consensus is Harder than Set Agreement in Message Passing

International audienceIn the traditional consensus task, processes are required to agree on a common value chosen among the initial values of the participating processes. It is well known that consensus cannot be solved in crash-prone, asynchronous distributed systems. Two generalizations of the consensus tasks have been introduced: k-set agreement and k-parallel consensus. The k-set agreement task has the same requirements as consensus except that processes are allowed to decide up to k distinct values. In the k-parallel consensus task, each process participates simultaneously in k instances of consensus and is required to decide in at least one of them; any two processes deciding in the same instance must decide the same value. It is known that both tasks are equivalent in the wait-free shared memory model. Perhaps surprisingly, this paper shows that this is no longer the case in the n-process asynchronous message passing model with at most t process crashes. Specifically, the paper establishes that for parameters t, n, k such that t > n+k−2 , k-parallel consensus is strictly harder than k-set 2 agreement. The proof compares the information on failures necessary to solve each task in the failure detector framework and relies on a result in topological combinatorics, namely, the chromatic number of Kneser graphs. The paper also introduces the new failure detector class V Σk , which is a generalization of the quorum failures detector class Σ suited to k-parallel consensus