Abstract
This paper proposes a novel framework to realize self-stabilizing Byzantine tolerant swarms. In this framework, non-Byzantine robots execute tasks while satisfying location functions, that is, the robots use a policy for their location choice, which restricts their location to satisfy the functions. We give a general Byzantine-resilient self-stabilizing algorithm based on the location function, and then provide an efficient implementation of the self-stabilizing algorithms for special classes of tasks, called polynomial-based tasks and shape-based tasks. We also demonstrate the usefulness of the proposed framework by implementing typical tasks of robots.
This work was supported in part by JSPS KAKENHI No. 19K11828, 20H04140, 20K11685, and 21K11748 the Ministry of Science and Technology, Israel & JST SICORP (Grant#JPMJSC1806), Lynne and William Frankel Center for Computer Science, the Rita Altura Trust Chair in Computer Science and the German Research Funding (DFG, Grant#8767581199). It was also supported in part by the Helmsley Charitable Trust through the Agricultural, Biological and Cognitive Robotics Initiative, the Marcus Endowment Fund both at Ben-Gurion University of the Negev.
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Ashkenazi, Y., Dolev, S., Kamei, S., Katayama, Y., Ooshita, F., Wada, K. (2021). Location Functions for Self-stabilizing Byzantine Tolerant Swarms. In: Johnen, C., Schiller, E.M., Schmid, S. (eds) Stabilization, Safety, and Security of Distributed Systems. SSS 2021. Lecture Notes in Computer Science(), vol 13046. Springer, Cham. https://doi.org/10.1007/978-3-030-91081-5_15
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DOI: https://doi.org/10.1007/978-3-030-91081-5_15
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