Optimal Byzantine Resilient Convergence in Asynchronous Robot Networks

TL;DR

This paper introduces a deterministic algorithm enabling asynchronous robot networks to achieve Byzantine fault-tolerant convergence, matching theoretical lower bounds with minimal assumptions in a uni-dimensional space.

Contribution

It presents the first deterministic Byzantine-resilient convergence algorithm for asynchronous robot networks in the CORDA model with optimal fault tolerance.

Findings

Tolerates up to f Byzantine robots in networks of size 3f+1

Works under bounded scheduling assumptions in a uni-dimensional space

Matches lower bounds established for semi-synchronous models

Abstract

We propose the first deterministic algorithm that tolerates up to $f$ byzantine faults in $3f+1$-sized networks and performs in the asynchronous CORDA model. Our solution matches the previously established lower bound for the semi-synchronous ATOM model on the number of tolerated Byzantine robots. Our algorithm works under bounded scheduling assumptions for oblivious robots moving in a uni-dimensional space.