相关论文: Fast Byzantine Gathering with Visibility in Graphs

We consider the problem of Byzantine fault-tolerance in federated machine learning. In this problem, the system comprises multiple agents each with local data, and a trusted centralized coordinator. In fault-free setting, the agents…

Optimum decision fusion in the presence of malicious nodes - often referred to as Byzantines - is hindered by the necessity of exactly knowing the statistical behavior of Byzantines. By focusing on a simple, yet widely studied, set-up in…

Dispersion of mobile robots over the nodes of an anonymous graph is an important problem and turns out to be a crucial subroutine for designing efficient algorithms for many fundamental graph problems via mobile robots. In this problem,…

This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…

Traditional Byzantine resilient algorithms use 2f+1 vertex disjoint paths to ensure message delivery in the presence of up to f Byzantine nodes. The question of how these paths are identified is related to the fundamental problem of…

In this paper we present an open source, fully asynchronous, leaderless algorithm for reaching consensus in the presence of Byzantine faults in an asynchronous network. We prove the algorithm's correctness provided that less than a third of…

The \textsc{Mutual Visibility} is a well-known problem in the context of mobile robots. For a set of $n$ robots disposed in the Euclidean plane, it asks for moving the robots without collisions so as to achieve a placement ensuring that no…

The problem of designing distributed optimization algorithms that are resilient to Byzantine adversaries has received significant attention. For the Byzantine-resilient distributed optimization problem, the goal is to (approximately)…

This paper considers the Byzantine consensus problem for nodes with binary inputs. The nodes are interconnected by a network represented as an undirected graph, and the system is assumed to be synchronous. Under the classical point-to-point…

Consider a group of autonomous mobile computational entities called robots. The robots move in the Euclidean plane and operate according to synchronous $Look$-$Compute$-$Move$ cycles. The computational capabilities of the robots under the…

In this paper, we study the challenging task of Byzantine-robust decentralized training on arbitrary communication graphs. Unlike federated learning where workers communicate through a server, workers in the decentralized environment can…

We present an approach to task scheduling in heterogeneous multi-robot systems. In our setting, the tasks to complete require diverse skills. We assume that each robot is multi-skilled, i.e., each robot offers a subset of the possible…

In this paper we study the realizability question for commuting graphs of finite groups: Given an undirected graph $X$ is it the commuting graph of a group $G$? And if so, to determine such a group. We seek efficient algorithms for this…

We present an algorithm for synchronous deterministic Byzantine consensus, tolerant to links failures and links asynchrony. It cares for a class of networks with specific needs, where both safety and liveness are essential, and timely…

In this paper, we consider the problem of scattering a swarm of mobile oblivious robots in a continuous space. We consider the fully asynchronous setting where robots may base their computation on past observations, or may be observed by…

This paper focuses on the problem of adversarial attacks from Byzantine machines in a Federated Learning setting where non-Byzantine machines can be partitioned into disjoint clusters. In this setting, non-Byzantine machines in the same…

Consider an asynchronous network in a shared-memory environment consisting of n nodes. Assume that up to f of the nodes might be Byzantine (n > 12f), where the adversary is full-information and dynamic (sometimes called adaptive). In…

In the coordinated motion planning problem, we are given a graph together with the starting and destination vertices of $k$ robots. At each time step, any subset of robots may move, each traversing an edge of the graph, provided that no two…

Population protocols model information spreading and computation in network systems where pairwise node exchanges are determined by an external random scheduler and nodes have small memory. Most of the population protocols in the literature…

In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…