Related papers: Decentralized Vision-Based Byzantine Agent Detecti…
Developing a safe and efficient collision avoidance policy for multiple robots is challenging in the decentralized scenarios where each robot generate its paths without observing other robots' states and intents. While other distributed…
As space becomes more congested, on orbit inspection is an increasingly relevant activity whether to observe a defunct satellite for planning repairs or to de-orbit it. However, the task of on orbit inspection itself is challenging,…
Challenges in real-world robotic applications often stem from managing multiple, dynamically varying entities such as neighboring robots, manipulable objects, and navigation goals. Existing multi-agent control strategies face scalability…
We consider the gathering task by a team of $m$ synchronous mobile robots in a graph of $n$ nodes. Each robot has an identifier (ID) and runs its own deterministic algorithm, i.e., there is no centralized coordinator. We consider a…
This paper studies the distributed multi-agent resilient optimization problem under the f-total Byzantine attacks. Compared with the previous work on Byzantineresilient multi-agent exact optimization problems, we do not require the…
The data collected from Internet of Things (IoT) devices on various emissions or pollution, can have a significant economic value for the stakeholders. This makes it prone to abuse or tampering and brings forward the need to integrate IoT…
We study a framework for modeling distributed network systems assisted by a reliable and powerful cloud service. Our framework aims at capturing hybrid systems based on a point to point message passing network of machines, with the…
An Optimal Transport (OT)-based decentralized collaborative multi-robot exploration strategy is proposed in this paper. This method is to achieve an efficient exploration with a predefined priority in the given domain. In this context, the…
We present NodeOP, a novel framework designed to optimize the management of General Node Operators in decentralized networks. By integrating Agent-Based Modeling (ABM) with a Tendermint Byzantine Fault Tolerance (BFT)-based consensus…
The capability of multi-robot SLAM approaches to merge localization history and maps from different observers is often challenged by the difficulty in establishing data association. Loop closure detection between perceptual inputs of…
We consider the problem of distributed statistical machine learning in adversarial settings, where some unknown and time-varying subset of working machines may be compromised and behave arbitrarily to prevent an accurate model from being…
Byzantine Fault Tolerant (BFT) systems are considered by the systems research community to be state of the art with regards to providing reliability in distributed systems. BFT systems provide safety and liveness guarantees with reasonable…
In this paper, we address the multi-robot collaborative perception problem, specifically in the context of multi-view infilling for distributed semantic segmentation. This setting entails several real-world challenges, especially those…
Distributed Ledger Technologies (DLTs), when managed by a few trusted validators, require most but not all of the machinery available in public DLTs. In this work, we explore one possible way to profit from this state of affairs. We devise…
In large-scale distributed learning, security issues have become increasingly important. Particularly in a decentralized environment, some computing units may behave abnormally, or even exhibit Byzantine failures -- arbitrary and…
Decentralized learning involves training machine learning models over remote mobile devices, edge servers, or cloud servers while keeping data localized. Even though many studies have shown the feasibility of preserving privacy, enhancing…
Distributed learning has become a necessity for training ever-growing models by sharing calculation among several devices. However, some of the devices can be faulty, deliberately or not, preventing the proper convergence. As a matter of…
In a practical Byzantine fault tolerance (PBFT) blockchain network, the voting nodes may always leave the network while some new nodes can also enter the network, thus the number of voting nodes is constantly changing. Such a new PBFT with…
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…
Ethereum Smart Contracts based on Blockchain Technology (BT) enables monetary transactions among peers on a blockchain network independent of a central authorizing agency. Ethereum Smart Contracts are programs that are deployed as…