Fault-Tolerant Mobile Robots

Défago, Xavier; Potop-Butucaru, Maria; Tixeuil, Sébastien

doi:10.1007/978-3-030-11072-7_10

Cited by 9 publications

(4 citation statements)

References 43 publications

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“…The gathering and convergence problems in the presence of Byzantine faults have also been investigated or surveyed, e.g., in [1,6,7,16,17].…”

Section: Gathering Problemsmentioning

confidence: 99%

“…Over the last three decades, swarms of autonomous mobile robots, e.g., automated guided vehicles and drones, have obtained much attention in a variety of contexts [1,2,4,8,9,19,21,23,24,25,26,28,29,31]. Among them is understanding solvable problems by a swarm consisting of many simple and identical robots in a distributed manner, which has been constantly attracting researchers in distributed computing society e.g., [1,2,3,5,8,11,12,13,14,15,16,17,18,19,20,21,22,27,29,30,32,33].…”

Section: Introduction 1convergence Problem and Compatibilitymentioning

confidence: 99%

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Compatibility of convergence algorithms for autonomous mobile robots

Asahiro¹,

Yamashita²

2023

Preprint

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We consider several convergence problems for autonomous mobile robots under the SSYN C model. Let Φ and Π be a set of target functions and a problem, respectively. If the robots whose target functions are chosen from Φ always solve Π, we say that Φ is compatible with respect to Π. If Φ is compatible with respect to Π, every target function φ ∈ Φ is an algorithm for Π. Note that even if both φ and φ are algorithms for Π, {φ, φ } may not be compatible with respect to Π. We investigate, the convergence, the fault tolerant (n, f )-convergence (FC(f )), the fault tolerant (n, f )-convergence to f points (FC(f )-PO), the fault tolerant (n, f )-convergence to a convex f -gon (FC(f )-CP), and the gathering problem, assuming crash failures. We classify these problems from the viewpoint of compatibility; the group of the convergence, FC(1), FC(1)-PO and FC(f )-CP, and the group of the gathering and FC(f )-PO for f ≥ 2 have completely opposite properties. FC(f ) for f ≥ 2 is placed in between.

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“…The gathering and convergence problems in the presence of Byzantine faults have also been investigated or surveyed, e.g., in [1,6,7,16,17].…”

Section: Gathering Problemsmentioning

confidence: 99%

Section: Introduction 1convergence Problem and Compatibilitymentioning

confidence: 99%

Compatibility of convergence algorithms for autonomous mobile robots

Asahiro¹,

Yamashita²

2023

Preprint

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“…The study of algorithms for mobile robots is extensive, as evidenced by a recent survey [13]. The Gathering problem has been investigated thoroughly under a wide variety of model assumptions, as summarized in [3,9,12] for continuous models and in [8,18] for discrete models. Of particular interest to our current work are discrete models where the robots are located in a network, have some amount of visibility beyond its own position [1,2,7,11,15], and where faults may occur [6,16,17].…”

Section: Related Workmentioning

confidence: 99%

Fast Byzantine Gathering with Visibility in Graphs

Miller¹,

Saha²

2020

Preprint

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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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“…Robot failures become more likely as the number of robots increases, or if robots are deployed in dangerous environments, but few studies address this issue [11]. A crash fault is a simple type of failure, where a robot stops following its protocol unexpectedly.…”

Section: Introductionmentioning

confidence: 99%