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
Gathering of asynchronous robots with limited visibility
Theoretical Computer Science
Convergence of autonomous mobile robots with inaccurate sensors and movements
STACS'06 Proceedings of the 23rd Annual conference on Theoretical Aspects of Computer Science
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
Connectivity-preserving scattering of mobile robots with limited visibility
SSS'10 Proceedings of the 12th international conference on Stabilization, safety, and security of distributed systems
Consensus of multi-agent networks in the presence of adversaries using only local information
Proceedings of the 1st international conference on High Confidence Networked Systems
Resilient synchronization in robust networked multi-agent systems
Proceedings of the 16th international conference on Hybrid systems: computation and control
Multidimensional approximate agreement in Byzantine asynchronous systems
Proceedings of the forty-fifth annual ACM symposium on Theory of computing
Optimal probabilistic ring exploration by semi-synchronous oblivious robots
Theoretical Computer Science
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Given a set of robots with arbitrary initial location and no agreement on a global coordinate system, convergence requires that all robots asymptotically approach the exact same, but unknown beforehand, location. Robots are oblivious-they do not recall the past computations-and are allowed to move in a one-dimensional space. Additionally, robots cannot communicate directly, instead they obtain system related information only via visual sensors. Even though convergence and the classical distributed approximate agreement problem (that requires correct processes to decide, for some constant @e, values distance @e apart and within the range of initial proposed values) are similar, we provide evidence that solving convergence in robot networks requires specific assumptions about synchrony and Byzantine resilience. In more detail, we prove necessary and sufficient conditions for the convergence of mobile robots despite a subset of them being Byzantine (i.e. they can exhibit arbitrary behavior). Additionally, we propose two deterministic convergence algorithms for robot networks and analyze their correctness and complexity in various atomicity and synchrony settings. The first algorithm tolerates f Byzantine robots for (2f+1)-sized robot networks in fully synchronous ATOM networks, while the second proposed algorithm tolerates f Byzantine robots for (3f+1)-sized robot networks in non-atomic CORDA networks. The resilience of these two algorithms is proved to be optimal.