Reaching approximate agreement in the presence of faults
Journal of the ACM (JACM)
Distributed Anonymous Mobile Robots: Formation of Geometric Patterns
SIAM Journal on Computing
Fault-tolerant gathering algorithms for autonomous mobile robots
SODA '04 Proceedings of the fifteenth annual ACM-SIAM symposium on Discrete algorithms
Convergence Properties of the Gravitational Algorithm in Asynchronous Robot Systems
SIAM Journal on Computing
Byzantine-Resilient Convergence in Oblivious Robot Networks
ICDCN '09 Proceedings of the 10th International Conference on Distributed Computing and Networking
Optimal Byzantine Resilient Convergence in Asynchronous Robots Networks
SSS '09 Proceedings of the 11th International Symposium on Stabilization, Safety, and Security of Distributed Systems
Byzantine Convergence in Robot Networks: The Price of Asynchrony
OPODIS '09 Proceedings of the 13th International Conference on Principles of Distributed Systems
Fault-tolerant and self-stabilizing mobile robots gathering
DISC'06 Proceedings of the 20th international conference on Distributed Computing
On the feasibility of gathering by autonomous mobile robots
SIROCCO'05 Proceedings of the 12th international conference on Structural Information and Communication Complexity
Byzantine Convergence in Robot Networks: The Price of Asynchrony
OPODIS '09 Proceedings of the 13th International Conference on Principles of Distributed Systems
Consensus in networked multi-agent systems with adversaries
Proceedings of the 14th international conference on Hybrid systems: computation and control
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We study the convergence problem in fully asynchronous, uni-dimensional robot networks that are prone to Byzantine (i.e. malicious) failures. In these settings, oblivious anonymous robots with arbitrary initial positions are required to eventually converge to an a priori unknown position despite a subset of them exhibiting Byzantine behavior. Our contribution is twofold. We propose a deterministic algorithm that solves the problem in the most generic settings: fully asynchronous robots that operate in the non-atomic CORDA model. Our algorithm provides convergence in 5f + 1-sized networks where f is the upper bound on the number of Byzantine robots. Additionally, we prove that 5f + 1 is a lower bound whenever robot scheduling is fully asynchronous. This constrasts with previous results in partially synchronous robot networks, where 3f + 1 robots are necessary and sufficient.