Brief Announcement Forgive & Forget: Self-stabilizing Swarms in Spite of Byzantine Robots
Brief Announcement Forgive & Forget: Self-stabilizing Swarms in Spite of Byzantine Robots
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简短公告 原谅
DOI：
10.1007/978-3-030-34992-9_2
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发表时间：
2019
期刊：
影响因子：
--
通讯作者：
Wada Koichi
中科院分区：
文献类型：
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作者：
Ashkenazi Yotam;Dolev Shlomi;Kamei Sayaka;Ooshita Fukuhito;Wada Koichi
在本文中，我们考虑的情况下，一群机器人合作的使命，其中一些机器人的恶意行为。这些恶意的拜占庭机器人可能会暂时或持续地被对手控制。范围是同步的全信息机器人操作，其中不遵循群的程序/策略的机器人被立即识别并且可以被记住为Byzantine。由于机器人可能会被怀疑是拜占庭由于良性的时间故障，它是必要的原谅和忘记（F&F），否则，机器人不能承担协作行动与任何其他机器人在群。尽管如此，记住一段时间可能会促进周围的政策，隔离和冻结的行为不端的机器人的运动，由几个机器人，允许其余的执行集群任务没有intervention.We证明需要定期F&F实现集群的几个任务，包括巡逻/清洁在可能的拜占庭机器人的存在。实现任务的策略包括通过一些机器人阻止拜占庭机器人的移动，而其余的机器人巡逻/清洁飞机。
In this paper, we consider the case in which a swarm of robots collaborates in a mission, where a few of the robots behave maliciously. These malicious Byzantine robots may be temporally or constantly controlled by an adversary. The scope is synchronized full information robot operations, where a robot that does not follow the program/policy of the swarm is immediately identified and can be remembered as Byzantine. As robots may be suspected of being Byzantine due to benign temporal malfunctions, it is imperative to Forgive & Forget (F&F), otherwise, a robot cannot assume collaborative actions with any other robot in the swarm. Still, remembering for a while may facilitate a policy of surrounding, isolating and freezing the movement of the misbehaving robots, by several robots, allowing the rest to perform the swarm task with no intervention.We demonstrate the need to periodically F&F to realize swarm several tasks including patrolling/cleaning in the presence of possible Byzantine robots. The policy for achieving the task consists of blocking the movement of the Byzantine robot(s) by some of the robots, while the rest patrol/clean the plane.