Fast Byzantine gathering with visibility in graphs

DOI10.1007/978-3-030-62401-9_10MaRDI QIDQ2037833zbMATH OpenOpenAlexFDO

Authors Avery Miller, Ullash Saha

Publication date 8 July 2021

Full work available at URL https://arxiv.org/abs/2009.01544

zbMATH Keywords

Byzantine faultsdistributed algorithmsgraphsrobot gatheringvisibility

Mathematics Subject Classification ID

Graph theory (including graph drawing) in computer science (68R10) Artificial intelligence for robotics (68T40) Distributed algorithms (68W15)

Abstract: We consider the gathering task by a team of $m$ synchronous mobile robots in a graph of $n$ nodes. Each robot has an identifier (ID) and runs its own deterministic algorithm, i.e., there is no centralized coordinator. We consider a particularly challenging scenario: there are $f$ Byzantine robots in the team that can behave arbitrarily, and even have the ability to change their IDs to any value at any time. There is no way to distinguish these robots from non-faulty robots, other than perhaps observing strange or unexpected behaviour. The goal of the gathering task is to eventually have all non-faulty robots located at the same node in the same round. It is known that no algorithm can solve this task unless there at least $f+1$ non-faulty robots in the team. In this paper, we design an algorithm that runs in polynomial time with respect to $n$ and $m$ that matches this bound, i.e., it works in a team that has exactly $f+1$ non-faulty robots. In our model, we have equipped the robots with sensors that enable each robot to see the subgraph (including robots) within some distance $H$ of its current node. We prove that the gathering task is solvable if this visibility range $H$ is at least the radius of the graph, and not solvable if $H$ is any fixed constant.

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Cited in

(7)

• Efficient dispersion on an anonymous ring in the presence of weak Byzantine robots
• Byzantine gathering in polynomial time
• Gathering in the plane of location-aware robots in the presence of spies
• Gathering in the plane of location-aware robots in the presence of spies
• A further study on weak Byzantine gathering of mobile agents
• Path connected dynamic graphs with a study of dispersion and exploration
• Balanced dispersion on time-varying dynamic graphs

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