Related papers: Fault and Byzantine Tolerant Self-stabilizing Mobi…
Decentralized network theories focus on achieving consensus and in speeding up the rate of convergence to consensus. However, network cohesion (i.e., maintaining consensus) during transitions between consensus values is also important when…
We consider the mobile robot dispersion problem in the presence of faulty robots (crash-fault). Mobile robot dispersion consists of $k\leq n$ robots in an $n$-node anonymous graph. The goal is to ensure that regardless of the initial…
This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…
Gathering mobile robots is a widely studied problem in robotic research. This survey first introduces the related work, summarizing models and results. Then, the focus shifts on the open problem of gathering fat robots. In this context,…
This paper investigates a swarm of autonomous mobile robots in the Euclidean plane, under the semi-synchronous ($\cal SSYNC$) scheduler. Each robot has a target function to determine a destination point from the robots' positions. All…
Consider a complete communication network of $n$ nodes, where the nodes receive a common clock pulse. We study the synchronous $c$-counting problem: given any starting state and up to $f$ faulty nodes with arbitrary behaviour, the task is…
We address the challenges of Byzantine-robust training in asynchronous distributed machine learning systems, aiming to enhance efficiency amid massive parallelization and heterogeneous computing resources. Asynchronous systems, marked by…
In this paper, we solve the local gathering problem of a swarm of $n$ indistinguishable, point-shaped robots on a two dimensional grid in asymptotically optimal time $\mathcal{O}(n)$ in the fully synchronous $\mathcal{FSYNC}$ time model.…
Distributed machine learning algorithms enable learning of models from datasets that are distributed over a network without gathering the data at a centralized location. While efficient distributed algorithms have been developed under the…
This work establishes a solution to the problem of assessing the capacity of multi-object assemblies to withstand external forces without becoming unstable. Our physically-grounded approach handles arbitrary structures made from rigid…
Synchronous Counting is the task of reaching agreement on a common round counter in a synchronous system of $n$ nodes with up to $t$ Byzantine faults in a self-stabilizing manner. That is, after transient faults may have arbitrarily…
This paper proposes a distributed algorithm which deterministically gathers n (n > 4) asynchronous, fat robots. The robots are assumed to be transparent and they have full visibility. The robots are initially considered to be stationary. A…
In this work, we study the problem of dispersion of mobile robots on dynamic rings. The problem of dispersion of $n$ robots on an $n$ node graph, introduced by Augustine and Moses Jr. [1], requires robots to coordinate with each other and…
We study the gathering problem requiring a team of mobile agents to gather at a single node in arbitrary networks. The team consists of $k$ agents with unique identifiers (IDs), and $f$ of them are weakly Byzantine agents, which behave…
Communication efficiency and robustness are two major issues in modern distributed learning framework. This is due to the practical situations where some computing nodes may have limited communication power or may behave adversarial…
Exploration of extreme or remote environments such as Mars is often recognized as an opportunity for multi-robot systems. However, this poses challenges for maintaining robust inter-robot communication without preexisting infrastructure. It…
We aim to enable a mobile robot to navigate through environments with dense crowds, e.g., shopping malls, canteens, train stations, or airport terminals. In these challenging environments, existing approaches suffer from two common…
Consider a set of $n$ simple autonomous mobile robots (asynchronous, no common coordinate system, no identities, no central coordination, no direct communication, no memory of the past, non-rigid, deterministic) initially in distinct…
Byzantine robustness has received significant attention recently given its importance for distributed and federated learning. In spite of this, we identify severe flaws in existing algorithms even when the data across the participants is…
This paper introduces collaborating robots which provide the possibility of enhanced task performance, high reliability and decreased. Collaborating-bots are a collection of mobile robots able to self-assemble and to self-organize in order…