A Distributed Algorithm for Gathering Many Fat Mobile Robots in the Plane

In this work we consider the problem of gathering autonomous robots in the plane. In particular, we consider non-transparent unit-disc robots (i.e., fat) in an asynchronous setting. Vision is the only mean of coordination. Using a state-machine representation we formulate the gathering problem and develop a distributed algorithm that solves the problem for any number of robots. The main idea behind our algorithm is for the robots to reach a configuration in which all the following hold: (a) The robots' centers form a convex hull in which all robots are on the convex, (b) Each robot can see all other robots, and (c) The configuration is connected, that is, every robot touches another robot and all robots together form a connected formation. We show that starting from any initial configuration, the robots, making only local decisions and coordinate by vision, eventually reach such a configuration and terminate, yielding a solution to the gathering problem.Comment: 39 pages, 5 figure

Uncertainty in Multi-Commodity Routing Networks: When does it help?

We study the equilibrium behavior in a multi-commodity selfish routing game with many types of uncertain users where each user over- or under-estimates their congestion costs by a multiplicative factor. Surprisingly, we find that uncertainties in different directions have qualitatively distinct impacts on equilibria. Namely, contrary to the usual notion that uncertainty increases inefficiencies, network congestion actually decreases when users over-estimate their costs. On the other hand, under-estimation of costs leads to increased congestion. We apply these results to urban transportation networks, where drivers have different estimates about the cost of congestion. In light of the dynamic pricing policies aimed at tackling congestion, our results indicate that users' perception of these prices can significantly impact the policy's efficacy, and "caution in the face of uncertainty" leads to favorable network conditions.Comment: Currently under revie

The Price of Anarchy for Polynomial Social Cost

In this work, we consider an interesting variant of the well-studied KP model [KP99] for selfish routing that reflects some influence from the much older Wardrop [War52]. In the new model, user traffics are still unsplittable, while social cost is now the expectation of the sum, over all links, of a certain polynomial evaluated at the total latency incurred by all users choosing the link; we call it polynomial social cost. The polynomials that we consider have non-negative coefficients. We are interested in evaluating Nash equilibria in this model, and we use the Price of Anarchy as our evaluation measure. We prove the Fully Mixed Nash Equilibrium Conjecture for identical users and two links, and establish an approximate version of the conjecture for arbitrary many links. Moreover, we give upper bounds on the Price of Anarchy

Multi-Player Diffusion Games on Graph Classes

We study competitive diffusion games on graphs introduced by Alon et al. [1] to model the spread of influence in social networks. Extending results of Roshanbin [8] for two players, we investigate the existence of pure Nash equilibria for at least three players on different classes of graphs including paths, cycles, grid graphs and hypercubes; as a main contribution, we answer an open question proving that there is no Nash equilibrium for three players on (m x n) grids with min(m, n) >= 5. Further, extending results of Etesami and Basar [3] for two players, we prove the existence of pure Nash equilibria for four players on every d-dimensional hypercube.Comment: Extended version of the TAMC 2015 conference version now discussing hypercube results (added details for the proof of Proposition 1

Sequentially consistent versus linearizable counting networks

We compare the impact of timing conditions on implementing sequentially consistent and linearizable counters using (uniform) counting networks in distributed systems. For counting problems in application domains which do not require linearizability but will run correctly if only sequential consistency is provided, the results of our investigation, and their potential payoffs, are threefold: • First, we show that sequential consistency and linearizability cannot be distinguished by the timing conditions previously considered in the context of counting networks; thus, in contexts where these constraints apply, it is possible to rely on the stronger semantics of linearizability, which simplifies proofs and enhances compositionality. • Second, we identify local timing conditions that support sequential consistency but not linearizability; thus, we suggest weaker, easily implementable timing conditions that are likely to be sufficient in many applications. • Third, we show that any kind of synchronization that is too weak to support even sequential consistency may violate it significantly for some counting networks; hence