Optimal Byzantine Resilient Convergence in Asynchronous Robots Networks

Authors:
Zohir Bouzid;Maria Gradinariu Potop-Butucaru;Sébastien Tixeuil
Affiliations:
LIP6-CNRS 7606, Université Pierre et Marie Curie - Paris 6, France;LIP6-CNRS 7606, Université Pierre et Marie Curie - Paris 6, France;LIP6-CNRS 7606, Université Pierre et Marie Curie - Paris 6, France
Venue:
SSS '09 Proceedings of the 11th International Symposium on Stabilization, Safety, and Security of Distributed Systems
Year:
2009

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Abstract

This paper addresses the byzantine resilience lower bound for the convergence in semi-synchronous robot networks. We prove that 3f + 1 robots are needed for convergence to tolerate up to f Byzantine robots. Our work generalizes the previously established lower bound proved for the class of cautious algorithms only. Additionally we propose the first deterministic algorithm that matches this lower bound and performs in the asynchronous CORDA model. Our algorithm works under bounded scheduling assumptions for oblivious robots moving in a uni-dimensional space.